Initiating motor control adjustments in surgical systems using local firing parameters

Abstract

A surgical instrument is disclosed, the surgical instrument comprising: an end effector; a firing member movable during a firing stroke from a non-firing position toward a firing position; a firing system, the firing system comprising a motor; and a control system. The end effector includes a first jaw, a second jaw movable relative to the first jaw, and a staple cartridge. The firing system is configured to drive the firing member through the firing stroke. The control system is configured to: drive, with the firing system, the firing member from the non-firing position towards the firing position; detecting a firing force for firing the firing member toward the firing position; predicting a future firing force to fire the firing member based on the detected firing force; and dynamically adjusting a firing algorithm of the firing system based on the prediction.

Description

[0001] Cross - reference to related applications

[0002] This patent application claims the benefit of U.S. Provisional Patent Application Ser. No. 63 / 411,445, filed Sep. 29, 2022, entitled "METHOD FOR CONTROLLING SURGICAL SYSTEM DURING TISSUE TREATMENT MOTION", under 35 U.S.C. § 119(e). The entire disclosure of the U.S. Provisional Patent Application is incorporated herein by reference. BACKGROUND OF THE INVENTION

[0003] The present invention relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments designed to suture and cut tissue and staple cartridges used therewith. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] The various features of the embodiments described herein, along with their advantages, can be understood from the following description in conjunction with the accompanying drawings:

[0005] Figure 1 A perspective view of an electrosurgical stapling system;

[0006] Figure 2 For Figure 1 A perspective view of an interchangeable surgical shaft assembly of the electrosurgical stapling system;

[0007] Figure 3 For Figure 1 An exploded assembly view of multiple parts of the handle assembly of the electrosurgical stapling system;

[0008] Figure 4 For Figure 2 An exploded assembly view of the interchangeable surgical shaft assembly;

[0009] Figure 5 For Figure 4 Another partial exploded assembly view of a portion of the interchangeable surgical shaft assembly;

[0010] Figure 6 A perspective view of a shaft assembly according to at least one embodiment;

[0011] Figure 7 For Figure 6 An exploded view of the distal end of the shaft assembly;

[0012] Figure 8 A perspective view of a surgical instrument assembly including a proximal control interface, a shaft assembly, and an end effector assembly;

[0013] Figure 9 ForFigure 8 Bottom perspective view of a surgical instrument assembly;

[0014] Figure 10 Perspective view of an example of a form of a robotic controller according to one aspect of the present disclosure;

[0015] Figure 11 Perspective view of an example of a form of a robotic surgical arm cart / manipulator of a robotic surgical system operably supporting multiple surgical tools according to one aspect of the present disclosure;

[0016] Figure 12 According to one aspect of the present disclosure Figure 11 Side view of the robotic surgical arm cart / manipulator depicted in

[0017] Figure 13 Block diagram of a surgical system for use with one or more surgical instruments, tools, and / or robotic systems according to one or more aspects of the present disclosure;

[0018] Figure 14 Block diagram of a surgical system for use with one or more surgical instruments, tools, and / or robotic systems according to one or more aspects of the present disclosure;

[0019] Figure 15 Graph showing modification of firing motion parameters over time of default firing motion parameters according to at least one aspect of the present disclosure;

[0020] Figure 16 Graph showing modification of firing motion parameters over time of default firing motion parameters according to at least one aspect of the present disclosure;

[0021] Figure 17 Method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0022] Figure 18 Graph showing modification of firing motion parameters over time of default firing motion parameters according to at least one aspect of the present disclosure;

[0023] Figure 19 Method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0024] Figure 20 Graph showing variation of closure trigger travel over time according to at least one aspect of the present disclosure;

[0025] Figure 21 Method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0026] Figure 22 Illustrates a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0027] Figure 23 Illustrates a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0028] Figure 24 Illustrates a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0029] Figure 25 Is a graph showing the change in the closed state of an end effector over time according to at least one aspect of the present disclosure;

[0030] Figure 26 Illustrates a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0031] Figure 27 Illustrates the response distribution of a clamping system obtained by using a position control closing system according to at least one aspect of the present disclosure;

[0032] Figure 28 Illustrates the response distribution of a clamping system obtained by using a position control closing system according to at least one aspect of the present disclosure;

[0033] Figure 29 Illustrates an end effector of a surgical instrument in an open state according to at least one aspect of the present disclosure;

[0034] Figure 30 Illustrates an end effector in a clamping state according to at least one aspect of the present disclosure Figure 29 ;

[0035] Figure 31 Illustrates a side view of an end effector according to at least one aspect of the present disclosure Figure 30 ;

[0036] Figure 32 Illustrates a graph showing the difference between an exemplary position control closing system and a load control closing system according to at least one aspect of the present disclosure;

[0037] Figure 33 Illustrates the response distribution of a clamping system obtained by using a load control closing system according to at least one aspect of the present disclosure;

[0038] Figure 34 Illustrates the response distribution of a clamping system obtained by using a load control closing system according to at least one aspect of the present disclosure;

[0039] Figure 35Shows a response distribution obtained from a clamping system utilizing a load control closure system according to at least one aspect of the present disclosure;

[0040] Figure 36 Shows a response distribution obtained from a clamping system utilizing a load control closure system according to at least one aspect of the present disclosure;

[0041] Figure 37 Shows a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0042] Figure 38 Shows a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0043] Figure 39 Shows a target distribution and a response signal distribution of a motor according to at least one aspect of the present disclosure;

[0044] Figure 40 Shows the conversion of an analog signal to a PWM digital signal according to at least one aspect of the present disclosure;

[0045] Figure 41 Shows a motor with improved inertia according to at least one aspect of the present disclosure;

[0046] Figure 42 Shows an exemplary motor current according to at least one aspect of the present disclosure and Figure 41 a graph showing the relationship of the motor;

[0047] Figure 43 Shows an exemplary motor current according to at least one aspect of the present disclosure and Figure 41 a graph showing the relationship of the motor;

[0048] Figure 44 Shows a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0049] Figure 45 Shows a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0050] Figure 46 Shows a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0051] Figure 47 Shows a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0052] Figure 48 Shows a method for controlling a surgical instrument according to at least one aspect of the present disclosure;

[0053] Figure 49 A table showing the cross - cutting performance of various staple cartridges according to at least one aspect of the present disclosure;

[0054] Figure 50 A graph showing the firing force ("FTF") of a firing member at different speeds according to at least one aspect of the present disclosure;

[0055] Figure 51 A graph showing the effect of pausing on FTF according to at least one aspect of the present disclosure;

[0056] Figure 52 A graph showing the effect of pausing on FTF according to at least one aspect of the present disclosure;

[0057] Figure 53 A graph showing the effect of pausing on FTF according to at least one aspect of the present disclosure;

[0058] Figure 54 A graph showing the effect of pausing on FTF according to at least one aspect of the present disclosure;

[0059] Figure 55 A graph showing the effect of pausing on FTF according to at least one aspect of the present disclosure;

[0060] Figure 56 Shows a method of controlling a surgical instrument according to at least one aspect of the present disclosure;

[0061] Figure 57 Shows a method of controlling a surgical instrument according to at least one aspect of the present disclosure;

[0062] Figure 58 A graph showing the effect of pausing on FTF with varying closing loads according to at least one aspect of the present disclosure;

[0063] Figure 59 A graph showing the effect of pausing on FTF during the firing stroke with varying tissue thicknesses according to at least one aspect of the present disclosure;

[0064] Figure 60 A scatter plot showing the effect of firing force on staple height according to at least one aspect of the present disclosure;

[0065] Figure 61 A graph showing the firing force distribution of a firing member encountering varying tissue thicknesses during the firing stroke according to at least one aspect of the present disclosure; and

[0066] Figure 62 Shows a method of controlling a surgical instrument according to at least one aspect of the present disclosure.

[0067] In several views, corresponding reference numerals indicate corresponding parts. The examples described herein illustrate various embodiments of the invention in one form, and such examples should not be construed as limiting the scope of the invention in any way. Detailed Description

[0068] The applicant of the present application owns the following U.S. patent applications filed on the same date as the present application and each incorporated herein by reference in its entirety:

[0069] · U.S. patent application titled "METHOD FOR CONTROLLING SURGICAL SYSTEM DURING TISSUE TREATMENT MOTION"; Attorney Docket No. END9440USNP1 / 220061-1M;

[0070] · U.S. patent application titled "ADAPTING TISSUE TREATMENT MOTION PARAMETERS BASED ON SITUATIONAL PARAMETERS"; Attorney Docket No. END9440USNP2 / 220061-2;

[0071] · U.S. patent application titled "ADAPTIVE FIRING CONTROL ALGORITHM BASED ON MECHANICAL ACTUATION OF USER CONTROLS"; Attorney Docket No. END9440USNP3 / 220061-3;

[0072] · U.S. patent application titled "ADAPTATION OF INDEPENDENT FIRING AND CLOSURE POWERED STAPLING SYSTEMS"; Attorney Docket No. END9440USNP4 / 220061-4;

[0073] · U.S. patent application titled "MONITORING ONE DRIVE SYSTEM TO ADAPT THE MOTOR DRIVEN ASPECT OF A SECOND DRIVE SYSTEM"; Attorney Docket No. END9440USNP5 / 220061-5;

[0074] · U.S. patent application titled "ADJUSTMENT OF THE MOTOR CONTROL PROGRAM BASED ON DETECTION OF INDIVIDUAL DEVICE DRIVE TRAIN PROPERTIES"; Attorney Docket No. END9440USNP6 / 220061-6;

[0075] · U.S. patent application titled "ADJUSTMENT OF A MOTOR CONTROL COMMAND SIGNAL TO ADAPT TO SYSTEM CHANGES"; Attorney Docket No. END9440USNP7 / 220061-7;

[0076] · U.S. patent application titled "MOTOR ADJUSTMENTS IN ABSENCE OF MOTOR DRIVE SIGNAL"; Attorney Docket No. END9440USNP8 / 220061-8;

[0077] · U.S. patent application titled "SURGICAL SYSTEMS WITH SYNCHRONIZED DISTRIBUTED PROCESSING CAPABILITIES"; Attorney Docket No. END9440USNP9 / 220061-9;

[0078] · U.S. patent application titled "SURGICAL SYSTEM WITH MOTOR RELATIVE CAPACITY INTERROGATIONS"; Attorney Docket No. END9440USNP10 / 220061-10;

[0079] · U.S. patent application titled "MOTOR CONTROL OF SURGICAL INSTRUMENT SYSTEMS"; Attorney Docket No. END9440USNP11 / 220061-11;

[0080] · U.S. patent application titled "SURGICAL SYSTEM WITH AMPLITUDE AND PULSE WIDTH MODULATION ADJUSTMENTS"; Attorney Docket No. END9440USNP12 / 220061-12;

[0081] · U.S. Patent Application titled "SURGICAL ALGORITHMS WITH INCREMENTAL SENSORY ACTIONS"; Attorney Docket No. END9440USNP13 / 220061-13; and

[0082] · U.S. Patent Application titled "SURGICAL SYSTEMS WITH DYNAMIC FORCE TO FIRE ADJUSTMENTS"; Attorney Docket No. END9440USNP15 / 220061-15.

[0083] Numerous specific details are set forth herein to provide a thorough understanding of the overall construction, function, manufacture, and use of the embodiments described in the specification and shown in the drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and shown herein are non-limiting examples, and thus it can be appreciated that the specific structural and functional details disclosed herein can be representative and illustrative. Variations and changes may be made to these embodiments without departing from the scope of the claims.

[0084] The terms "comprise" (and any form of "comprise," such as "comprises" and "comprising"), "have" (and any form of "have," such as "has" and "having"), "include" (and any form of "include," such as "includes" and "including"), and "contain" (and any form of "contain," such as "contains" and "containing") are open-ended linking verbs. Thus, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Similarly, an element of a system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more features has those one or more features, but is not limited to having only those one or more features.

[0085] The terms "proximal" and "distal" are used herein relative to a clinician manipulating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion positioned away from the clinician. It should also be understood that, for simplicity and clarity, spatial terms such as "vertical", "horizontal", "up", and "down" may be used herein in conjunction with the accompanying drawings. However, the surgical instrument is used in many orientations and positions, and these terms are not restrictive and / or absolute.

[0086] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and devices disclosed herein can be used in a variety of surgical procedures and applications, including, for example, in combination with open surgery. Continuing to refer to this detailed description, the reader will further understand that the various instruments disclosed herein can be inserted into the body in any manner, such as through natural body cavities, through incisions or puncture holes formed in tissue, and the like. The working portion or end effector portion of the instrument can be inserted directly into the patient's body or can be inserted through an access device having a working channel, through which the end effector and the elongate shaft of the surgical instrument can be advanced.

[0087] A surgical stapling system can include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge can be inserted into the first jaw and can be removed from the first jaw; however, other embodiments are contemplated in which the staple cartridge cannot be removed from the first jaw or can at least be easily replaced from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw can pivot relative to the first jaw about a closure axis; however, other embodiments are contemplated in which the first jaw can pivot relative to the second jaw. The surgical stapling system also includes a joint that is configured to allow the end effector to rotate or articulate relative to the shaft. The end effector can rotate about an articulation axis extending through the joint. Other embodiments that do not include a joint are contemplated.

[0088] The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled, and the anvil is positioned on a second side of the tissue. The anvil moves toward the staple cartridge to compress and clamp the tissue against the platform. Then, the staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes a staple cavity defined therein, where the staples are removably stored in the staple cavity. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of the staple cavities and staples are possible.

[0089] The staple is supported by a staple driver within a cartridge body. The driver is movable between a first or non-firing position and a second or firing position to eject the staple from a staple cavity. The driver is retained within the cartridge body by a retainer that extends about a bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The driver is movable between its non-firing position and its firing position by a slider. The slider is movable between a proximal position adjacent a proximal end and a distal position adjacent a distal end. The slider includes a plurality of ramp surfaces configured to slide under the driver and lift the driver toward an anvil, and the staple is supported on the driver.

[0090] In addition to the above, the slider may also be moved distally by a firing member. The firing member is configured to contact the slider and push the slider toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam that engages a first jaw and a second cam that engages a second jaw. As the firing member is advanced distally, the first cam and the second cam may control the distance or tissue gap between a platform of the staple cartridge and the anvil. The firing member further includes a blade configured to cut tissue captured between the staple cartridge and the anvil. It is desirable for the blade to be positioned at least partially adjacent the ramp surfaces such that the staple is ejected prior to the blade.

[0091] Figure 1 A surgical instrument 1010 is shown that includes an interchangeable shaft assembly 1200 operatively coupled to a housing 1012. Figure 2 An interchangeable shaft assembly 1200 is shown detached from the housing 1012 or the handle 1014. As Figure 3 can be seen, the handle 1014 may include a pair of interconnectable handle housing segments 1016 and 1018 that may be interconnected by screws, snap features, adhesives, etc. In the illustrated arrangement, the handle housing segments 1016, 1018 cooperate to form a pistol grip portion 1019. Figure 1 and Figure 3A motor-driven surgical cutting and fastening instrument 1010 that is reusable or non-reusable is shown. In the illustrated embodiment, the instrument 1010 includes a proximal housing 1012 that includes a handle 1014 configured to be grasped, manipulated, and actuated by a clinician. The housing 1012 is configured for operable attachment to an interchangeable shaft assembly 1200 that has a surgical end effector 1300 operably coupled thereto, the surgical end effector being configured to perform one or more surgical tasks or procedures. Continuing to refer to this detailed description, it will be understood that the various forms of interchangeable shaft assemblies disclosed herein may also be effectively used in conjunction with robotically controlled surgical systems. Thus, the term "housing" may also encompass the housing or a similar portion of a robotic system that houses or otherwise operably supports at least one drive system configured to generate and apply at least one control action that can be used to actuate the interchangeable shaft assemblies and their corresponding equivalents disclosed herein. Additionally, various components may be "housed" or contained within the housing, or various components may be "associated" with the housing. In such cases, the components may not be housed within the housing or directly supported by the housing. The term "frame" may refer to a portion of a hand-held surgical instrument. The term "frame" may also denote a portion of a robotically controlled surgical instrument and / or a portion of a robotic system that can be used to operably control the surgical instrument. For example, the interchangeable shaft assemblies disclosed herein may be used with the various robotic systems, instruments, components, and methods disclosed in U.S. Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," which is hereby incorporated by reference in its entirety.

[0092] Figure 1 The depicted front-side housing 1012 is shown in combination with the interchangeable shaft assembly 1200 Figure 2 、 Figure 4 and Figure 5) The interchangeable shaft assembly includes an end effector 1300, which includes surgical cutting and fastening means configured to operably support a surgical staple cartridge 1301 therein. The housing 1012 can be configured for use in combination with an interchangeable shaft assembly that includes an end effector adapted to support staple cartridges of different sizes and types, and the interchangeable shaft assembly has different shaft lengths, sizes, types, etc. In addition, the housing 1012 can also be effectively used with a variety of other interchangeable shaft assemblies, including those configured to apply other actions and forms of energy (such as, for example, radio frequency (RF) energy, ultrasonic energy, and / or actions) to end effector arrangements suitable for use in combination with various surgical applications and procedures. In addition, the end effector, shaft assembly, handle, surgical instrument, and / or surgical instrument system can utilize any suitable fasteners that can be grasped and manipulated by a clinician. As will be discussed in further detail below, the handle 1014 operably supports a plurality of drive systems therein, which are configured to generate various control actions and apply these control actions to corresponding portions of the interchangeable shaft assembly operably attached thereto.

[0093] Now refer to Figure 3 , the handle 1014 may also include a frame 1020 that operably supports a plurality of drive systems. For example, the frame 1020 is capable of operably supporting a "first" or closing drive system, generally labeled 1030, which can be used to apply closing and opening actions to an interchangeable shaft assembly 1200 operably attached or coupled thereto. In at least one form, the closing drive system 1030 may include an actuator in the form of a closing trigger 1032 pivotally supported by the frame 1020. More specifically, as Figure 3 shown, the closing trigger 1032 is pivotally coupled to the handle 1014 via a pin 1033. Such an arrangement enables the closing trigger 1032 to be manipulated by a clinician such that when the clinician grasps the pistol grip portion 1019 of the handle 1014, the closing trigger 1032 can be easily pivoted by the clinician from an initial or "unactuated" position to an "actuated" position, and more specifically, to a fully compressed or fully actuated position. The closing trigger 1032 may be biased to the unactuated position by a spring or other biasing arrangement (not shown). In various forms, the closing drive system 1030 also includes a closing link assembly 1034 pivotally coupled to the closing trigger 1032.

[0094] As Figure 3 visible, the closing link assembly 1034 may include a first closing connector 1036 and a second closing connector 1038 pivotally coupled to the closing trigger 1032 via a pin 1035. The second closing connector 1038 may also be referred to herein as an "attachment member" and includes a lateral attachment pin 1037.

[0095] Still referring to Figure 3 it can be observed that the first closure connector 1036 can have a locking wall or locking end 1039 thereon that is configured to cooperate with a closure release assembly 1060 pivotally coupled to the frame 1020. In at least one form, the closure release assembly 1060 can include a release button assembly 1062 having a locking pawl 1064 projecting distally formed thereon. The release button assembly 1062 can be pivoted counterclockwise by a release spring (not shown). When the clinician presses the closure trigger 1032 from its unactuated position toward the pistol grip portion 1019 of the handle 1014, the first closure connector 1036 pivots upward to a point where the locking pawl 1064 drops into engagement with the locking wall 1039 on the first closure connector 1036, thereby preventing the closure trigger 1032 from returning to the unactuated position. Thus, the closure release assembly 1060 serves to lock the closure trigger 1032 in the fully actuated position. When the clinician desires to unlock the closure trigger 1032 to allow it to be biased to the unactuated position, the clinician simply pivots the closure release button assembly 1062 such that the locking pawl 1064 moves out of engagement with the locking wall 1039 on the first closure connector 1036. When the locking pawl 1064 has moved out of engagement with the first closure connector 1036, the closure trigger 1032 can pivot back to the unactuated position. Other closure trigger locking arrangements and release arrangements can also be employed.

[0096] An arm 1061 can extend from the closure release button assembly 1062. A magnetic element 1063 (such as a permanent magnet) can be mounted to the arm 1061, for example. When the closure release button assembly 1062 rotates from its first position to its second position, the magnetic element 1063 can move toward the circuit board 1100. The circuit board 1100 can include at least one sensor configured to detect the movement of the magnetic element 1063. In at least one embodiment, for example, a "Hall effect" sensor (not shown) can be mounted to the bottom surface of the circuit board 1100. The Hall effect sensor can be configured to detect a change in the magnetic field surrounding the Hall effect sensor caused by the movement of the magnetic element 1063. The Hall effect sensor can communicate signals with, for example, a microcontroller that can determine whether the closure release button assembly 1062 is in its first position associated with the unactuated position of the closure trigger 1032 and the open configuration of the end effector, its second position associated with the actuated position of the closure trigger 1032 and the closed configuration of the end effector, and / or any position between the first position and the second position.

[0097] In at least one form, the handle 1014 and the frame 1020 are operatively supported by another drive system herein referred to as the firing drive system 1080, which is configured to be able to apply a firing action to a corresponding portion of an interchangeable shaft assembly attached thereto. The firing drive system 1080 may also be referred to herein as the "second drive system". The firing drive system 1080 may employ an electric motor 1082 positioned in the pistol grip portion 1019 of the handle 1014. In various forms, the motor 1082 may be a DC brushed drive motor having a maximum rotational speed of, for example, about 25,000 RPM. In other arrangements, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 1082 may be powered by a power source 1090, which in one form may include a removable power pack 1092. As Figure 3 can be seen, for example, the power pack 1092 may include a proximal housing portion 1094 configured for attachment to a distal housing portion 1096. The proximal housing portion 1094 and the distal housing portion 1096 are configured to be able to operatively support a plurality of batteries 1098 therein. The batteries 1098 may each include, for example, a lithium ion ("LI") or other suitable battery. The distal housing portion 1096 is configured for operatively attaching in a removable manner to a handle circuit board 1100 that is also operatively coupled to the motor 1082. The plurality of batteries 1098 may be connected in series and may serve as a power source for the surgical instrument 1010. Additionally, the power source 1090 may be replaceable and / or rechargeable.

[0098] As outlined above with respect to the other various forms, the electric motor 1082 may include a rotatable shaft (not shown) operatively interfacing with a gear reducer assembly 1084, which is mounted on a longitudinally movable drive member 1120 in meshing engagement with a set of drive teeth 1122 of a rack. In use, the voltage polarity provided by the power source 1090 may operate the electric motor 1082 in a clockwise direction, where the voltage polarity applied to the electric motor by the battery may be reversed in order to operate the electric motor 1082 in a counterclockwise direction. When the electric motor 1082 rotates in one direction, the drive member 1120 will be axially driven in the distal direction "DD". When the motor 1082 is driven in the opposite rotational direction, the drive member 1120 will be axially driven in the proximal direction "PD". The handle 1014 may include a switch that may be configured to be able to reverse the polarity applied to the electric motor 1082 by the power source 1090. As with the other forms described herein, the handle 1014 may also include a sensor configured to be able to detect the position of the drive member 1120 and / or the direction in which the drive member 1120 is moving.

[0099] Actuation of the motor 1082 can be controlled by a firing trigger 1130 pivotally supported on the handle 1014. The firing trigger 1130 can pivot between an unactuated position and an actuated position. The firing trigger 1130 can be biased to the unactuated position by a spring 1132 or other biasing arrangement such that when the clinician releases the firing trigger 1130, the firing trigger can be pivoted or otherwise returned to the unactuated position by the spring 1132 or biasing arrangement. In at least one form, the firing trigger 1130 can be positioned "outside" the closure trigger 1032, as discussed above. In at least one form, a firing trigger safety button 1134 can be pivotally mounted to the closure trigger 1032 by a pin 1035. The safety button 1134 can be positioned between the firing trigger 1130 and the closure trigger 1032 and has a pivot arm 1136 projecting therefrom. When the closure trigger 1032 is in the unactuated position, the safety button 1134 is received within the handle 1014 such that the clinician cannot easily access the button or move the button between a safety position that prevents actuation of the firing trigger 1130 and a firing position where the firing trigger 1130 can be fired. When the clinician depresses the closure trigger 1032, the safety button 1134 and the firing trigger 1130 pivot downward and can then be manipulated by the clinician.

[0100] As described above, in at least one form, the longitudinally movable drive member 1120 has teeth 1122 formed thereon in a rack for meshing engagement with a corresponding drive gear 1086 of the gear reducer assembly 1084. At least one form also includes a manually actuated "emergency" assembly 1140 configured to enable the clinician to manually retract the longitudinally movable drive member 1120 in the event the motor 1082 becomes inoperative. The emergency assembly 1140 can include a lever or emergency handle assembly 1142 configured to be manually pivoted into ratchet engagement with teeth 1124 also provided in the drive member 1120. Thus, the clinician can manually retract the drive member 1120 by using the emergency handle assembly 1142 to cause the drive member 1120 to move in a ratcheting motion in the proximal direction "PD". U.S. Patent No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", discloses an emergency arrangement and other components, arrangements, and systems that can also be used with the various instruments disclosed herein. U.S. Patent No. 8,608,045 is hereby incorporated by reference in its entirety.

[0101] Now turning to Figure 2 andFigure 5 , the interchangeable shaft assembly 1200 includes a surgical end effector 1300 that includes an elongate channel 1310 configured to operably support a staple cartridge 1301 therein. The end effector 1300 may further include an anvil 2000 pivotally supported relative to the elongate channel 1310. The interchangeable shaft assembly 1200 may further include an articulation joint 3020 and an articulation lock 2140 that may be configured to releasably hold the end effector 1300 in a desired position relative to the shaft axis SA. Examples of various features of at least one form of the end effector 1300, the articulation joint 3020, and the articulation lock can be seen in U.S. Patent Application Serial No. 13 / 803,086, filed Mar. 14, 2013, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" (now U.S. Patent Application Publication 2014 / 0,263,541). The entire disclosure of U.S. Patent Application Serial No. 13 / 803,086, filed Mar. 14, 2013, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" (now U.S. Patent Application Publication 2014 / 0263541) is hereby incorporated by reference herein. As Figure 4 seen, the interchangeable shaft assembly 1200 may further include a proximal housing or nozzle 1201 consisting of nozzle portions 1202 and 1203.

[0102] The interchangeable shaft assembly 1200 may further include a closure system or closure member assembly 3000 that may be used to close and / or open the anvil 2000 of the end effector 1300. The shaft assembly 1200 may include a ridge 1210 that is configured to: first, slidably support a firing member therein; and second, slidably support a closure member assembly 3000 extending around the ridge 1210. As Figure 5As can be seen, the distal end 1212 of the ridge 1210 terminates at an upper lug mounting feature 1270 and a lower lug mounting feature 1280. The upper lug mounting feature 1270 has a lug slot 1272 formed therein, and the lug slot is adapted to receive a support upper mounting connector 1274 therein. Similarly, the lower lug mounting feature 1280 has a lug slot 1282 formed therein, and the lug slot is adapted to receive a support lower mounting connector 1284 therein. The upper mounting connector 1274 includes a pivot bearing socket 1276, and the pivot bearing socket is adapted to rotatably receive a pivot pin 1292 therein. The pivot pin is formed on a channel cover or anvil holder 1290 attached to the proximal end portion 1312 of the elongated channel 1310. The lower mounting connector 1284 includes a lower pivot pin 1286, and the lower pivot pin is adapted to be received in a pivot hole 1314 formed in the proximal end portion 1312 of the elongated channel 1310. Refer to Figure 5 . The lower pivot pin 1286 is vertically aligned with the pivot bearing socket 1276 to define an articulation axis AA, and the surgical end effector 1300 can articulate about the articulation axis AA relative to the shaft axis SA. Refer to Figure 2 .

[0103] In the illustrated example, the surgical end effector 1300 can be selectively articulated by an articulation system 2100 about the articulation axis AA. In one form, the articulation system 2100 includes a proximal articulation driver 2102 pivotally coupled to an articulation link 2120. As Figure 5It can be seen most specifically that a biasing attachment lug 2114 is formed on the distal end 2110 of the proximal articulation drive 2102. A pivot hole 2116 is formed in the biasing attachment lug 2114 and is configured to pivotally receive therein a proximal connector pin 2124 formed on the proximal end 2122 of the articulation link 2120. The distal end 2126 of the articulation link 2120 includes a pivot hole 2128 that is configured to pivotally receive therein a channel pin 1317 formed on the proximal end portion 1312 of the elongate channel 1310. Thus, axial movement of the proximal articulation drive 2102 will thereby impart articulation to the elongate channel 1310, causing the surgical end effector 1300 to articulate about an articulation axis AA relative to the spine 1210. Additional details regarding the construction and operation of the articulation system 2100 can be seen in various references incorporated herein by reference, including U.S. Patent Application Serial No. 15 / 635,631, filed June 28, 2017, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER", now U.S. Patent Application Publication 2019 / 0000464, the entire disclosure of which is hereby incorporated herein by reference. In various cases, when the proximal articulation drive 2102 is not moving in the proximal or distal direction, the proximal articulation drive 2102 can be held in place by an articulation lock 2140. Additional details regarding examples of the articulation lock 2140 can be seen in U.S. Patent Application Serial No. 15 / 635,631 (now U.S. Patent Application Publication 2019 / 0000464) and other references incorporated herein by reference.

[0104] In various cases, the spine 1210 can include a proximal end 1211 that is rotatably supported in the base 1240. In one arrangement, for example, the proximal end 1211 of the spine 1210 has threads 1214 formed thereon for threaded attachment to a spine bearing 1216 that is configured to be supported within the base 1240. See Figure 4 . This arrangement facilitates the rotatable attachment of the spine 1210 to the base 1240 such that the spine 1210 can be selectively rotated relative to the base 1240 about an axis SA.

[0105] Primarily see Figure 4 , the interchangeable shaft assembly 1200 includes a closure shuttle 1250 that is slidably supported within the base 1240 such that the closure shuttle is axially movable relative to the base. The closure shuttle 1250 includes a pair of proximally projecting hooks 1252 that are configured for attachment to an attachment pin 1037 ( Figure 3), the attachment pin is attached to the second closing connection member 1038, as will be discussed in further detail below. In at least one example, the closing member assembly 3000 includes a proximal closing member segment 3010 having a proximal end 3012 that is coupled to the closing shuttle 1250 for rotation relative to the closing shuttle. For example, a U-shaped connector 1263 is inserted into an annular slot 3014 in the proximal end 3012 of the proximal closing member segment 3010 and retained within a vertical slot 1253 in the closing shuttle 1250. Such an arrangement is used to attach the proximal closing member segment 3010 to the closing shuttle 1250 for axial travel therewith, while allowing the proximal closing member segment 3010 to rotate about an axis SA relative to the closing shuttle 1250. A closing spring 1268 is journaled on the proximal closing member segment 3010 and is used to bias the proximal closing member segment 3010 in the proximal direction "PD", which can be used to pivot the closing trigger 1032 to an unactuated position when the shaft assembly is operatively coupled to the handle 1014.

[0106] In at least one form, the interchangeable shaft assembly 1200 may also include a gimbal joint 3020. However, other interchangeable shaft assemblies may not be gimbaled. As Figure 5 can be seen, for example, a distal closing member or a distal closing tube segment 3030 is coupled to the distal end of the proximal closing member segment 3010. The gimbal joint 3020 includes a double-pivot closing sleeve assembly 3022. According to various forms, the double-pivot closing sleeve assembly 3022 includes an end effector closing tube 3050 having an upper shank 3052 and a lower shank 3054 that project distally. The upper double-pivot connector 3056 includes a distally projecting distal pivot pin and a proximally projecting proximal pivot pin that engage an upper distal pin hole in the proximally projecting upper shank 3052 on the distal closing tube segment 3030 and an upper proximal pin hole in the distally projecting upper shank 3032, respectively. The lower double-pivot connector 3058 includes a distally projecting distal pivot pin and a proximally projecting proximal pivot pin that engage a lower distal pin hole in the proximally projecting lower shank 3054 and a lower proximal pin hole in the distally projecting lower shank 3034, respectively. See Figure 4 and Figure 5 . As will be discussed in further detail below, the closing member assembly 3000 translates distally (direction "DD") to close the anvil 2000, for example, in response to actuation of the closing trigger 1032. The anvil 2000 is opened by translating the closing member assembly 3000 proximally, which causes the end effector closing sleeve to interact with the anvil 2000 and pivot it to an open position.

[0107] As described above, the interchangeable shaft assembly 1200 also includes a firing member 1900 that is supported for axial travel within the ridge 1210. The firing member 1900 includes an intermediate firing shaft portion 1222 that is configured to attach to a distal cutting portion or knife bar 1910. The intermediate firing shaft portion 1222 may include a longitudinal slot 1223 in its distal end that is configured to receive a tab 1912 on the proximal end of the distal knife bar 1910. The longitudinal slot 1223 and the proximal end tab 1912 may be sized and configured to allow relative movement between the longitudinal slot and the proximal end tab and may include a slip joint 1914. The slip joint 1914 may allow movement of the intermediate firing shaft portion 1222 of the firing member 1900 to articulate the end effector 1300 without movement or at least substantially without movement of the knife bar 1910. Once the end effector 1300 has been properly oriented, the intermediate firing shaft portion 1222 may be advanced distally until the proximal sidewall of the longitudinal slot 1223 contacts the tab 1912 to advance the knife bar 1910 and fire a staple cartridge 1301 positioned within the channel 1310. The knife bar 1910 includes a knife portion 1920 and includes an upper anvil engagement tab 1924 and a lower channel engagement tab 1926, and the knife portion includes a blade or tissue cutting edge 1922. Various firing member configurations and operations are disclosed in various other references incorporated herein by reference.

[0108] Embodiments are also contemplated in which a shifter assembly may be used instead of the slip joint 1914. Details of such shifter assemblies and corresponding components, assemblies, and systems can be found in U.S. Patent Application No. 15 / 635,521, entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT", the entire content of which is incorporated herein by reference.

[0109] As Figure 4As can be seen, the shaft assembly 1200 also includes a switching cylinder 1500 rotatably received on the proximal closure member segment 3010. The switching cylinder 1500 includes a hollow shaft segment 1502 having a shaft boss formed thereon for receiving a projecting actuation pin therein. In various cases, the actuation pin extends through a slot into a longitudinal slot provided in the locking sleeve to facilitate axial movement of the locking sleeve when the locking sleeve engages the articulation drive. The rotational torsion spring 1420 is configured to engage a boss on the switching cylinder 1500 and a portion of the nozzle housing 1203 to apply a biasing force to the switching cylinder 1500. The switching cylinder 1500 may also include at least partially peripheral openings 1506 defined therein, the openings being configured to receive peripheral mounts extending from the nozzle portions 1202, 1203 and to allow relative rotation rather than relative translation between the switching cylinder 1500 and the nozzle 1201. The mounts also extend through an opening 3011 in the proximal closure member segment 3010 to a recess 1219 to be disposed in the ridge 1210. Rotation of the switching cylinder 1500 about the axis SA will ultimately cause rotation of the actuation pin and the locking sleeve between their engaged and disengaged positions. In one arrangement, rotation of the switching cylinder 1500 may be associated with the axial advancement of the closure tube or closure member. Thus, in essence, actuation of the closure system can operatively engage and disengage the articulation drive system and the firing drive system in various ways, which are described in more detail in U.S. Patent Application Serial No. 13 / 803,086 (now U.S. Patent Application Publication 2014 / 0263541) entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" and U.S. Patent 9,913,642 entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM", the entire disclosures of which are hereby incorporated by reference herein. For example, when the closure tube is in its most proximal position corresponding to the "jaw open" position, the closure member segment 3010 will have positioned the switching cylinder 1500 to connect the articulation system to the firing drive system. When the closure tube has moved to its distal position corresponding to the "jaw closed" position, the closure tube has rotated the switching cylinder 1500 to a position where the articulation system is disconnected from the firing drive system.

[0110] Similarly as Figure 4As shown, the shaft assembly 1200 can include a slip ring assembly 1600, which can be configured, for example, to conduct electricity to and / or from the end effector 1300 and / or to transmit signals to and / or receive signals from the end effector 1300. The slip ring assembly 1600 can include a proximal connector flange 1604 and a distal connector flange. The proximal connector flange is mounted to a base flange 1242 extending from the base 1240, and the distal connector flange is positioned within a slot defined in the shaft housing. The proximal connector flange 1604 can include a first face, and the distal connector flange can include a second face that is positioned adjacent to and movable relative to the first face. The distal connector flange can rotate relative to the proximal connector flange 1604 about the shaft axis SA. The proximal connector flange 1604 can include a plurality of concentric or at least substantially concentric conductors defined in its first face. Connectors can be mounted on the proximal side faces of the connector flanges and can have a plurality of contacts, where each contact corresponds to and is in electrical contact with one of the conductors. Such an arrangement allows relative rotation between the two flanges while maintaining electrical contact between the proximal connector flange 1604 and the distal connector flange. For example, the proximal connector flange 1604 can include an electrical connector 1606 that can enable signal communication between the conductors and a shaft circuit board 1610 mounted to the shaft base 1240. In at least one case, a wire harness including a plurality of conductors can extend between the electrical connector 1606 and the shaft circuit board 1610. The electrical connector 1606 can extend proximally through a connector opening 1243 defined in the base flange 1242. See Figure 4 . More details regarding the slip ring assembly 1600 can be seen, for example, in U.S. Patent Application Serial No. 13 / 803,086 (now U.S. Patent Application Publication 2014 / 0263541) entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", U.S. Patent Application Serial No. 13 / 800,067 (now U.S. Patent Application Publication 2014 / 0263552) entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" filed on March 13, 2013, and U.S. Patent 9,345,481 entitled "STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM". U.S. Patent Application Serial No. 13 / 803,086 (now U.S. Patent Application Publication 2014 / 0263541), U.S. Patent Application Serial No. 13 / 800,067 (now U.S. Patent Application Publication 2014 / 0263552), and U.S. Patent 9,345,481 are hereby incorporated by reference in their entireties herein.

[0111] As discussed above, the shaft assembly 1200 can include a proximal portion and a distal portion. The proximal portion can be fixedly mounted to the handle 1014, and the distal portion is capable of rotating about a longitudinal axis. The rotatable distal shaft portion can rotate relative to the proximal portion about the slip ring assembly 1600 as discussed above. The distal connector flange of the slip ring assembly 1600 can be positioned within the rotatable distal shaft portion. Moreover, in addition to the above, the switching cylinder 1500 can also be positioned within the rotatable distal shaft portion. When the rotatable distal shaft portion rotates, the distal connector flange and the switching cylinder 1500 can rotate synchronously with each other. Additionally, the switching cylinder 1500 can rotate between a first position and a second position relative to the distal connector flange. When the switching cylinder 1500 is in its first position, the articulation drive system can be operatively disengaged from the firing drive system, and thus, the operation of the firing drive system may not cause the end effector 1300 of the shaft assembly 1200 to articulate. When the switching cylinder 1500 is in its second position, the articulation drive system can be operatively engaged with the firing drive system, and thus, the operation of the firing drive system can cause the end effector 1300 of the shaft assembly 1200 to articulate. When the switching cylinder 1500 moves between its first position and its second position, the switching cylinder 1500 moves relative to the distal connector flange. In various cases, the shaft assembly 1200 can include at least one sensor configured to be able to detect the position of the switching cylinder 1500.

[0112] Referring again Figure 4 , the base 1240 includes at least one, and preferably two, tapered attachment portions 1244 formed thereon, which tapered attachment portions are adapted to be received within corresponding dovetail slots 1702 formed within the distal attachment flange portion 1700 of the frame 1020. See Figure 3 . Each dovetail slot 1702 can be tapered, or in other words, can be slightly V-shaped, so as to receive the attachment portion 1244 therein in a seating manner. As further visible in Figure 4 , the shaft attachment lug 1226 is formed on the proximal end of the intermediate firing shaft portion 1222. As will be discussed in further detail below, when the interchangeable shaft assembly 1200 is coupled to the handle 1014, the shaft attachment lug 1226 is received within a firing shaft attachment bracket 1126 formed in the distal end 1125 of the longitudinal drive member 1120. See Figure 3 .

[0113] Various shaft assembly embodiments employ a latch system 1710 to removably couple the shaft assembly 1200 to the housing 1012 and more particularly to the frame 1020. As Figure 4As can be seen, for example, in at least one form, the latch system 1710 includes a locking member or locking yoke 1712 movably coupled to the base 1240. In an illustrated embodiment, for example, the locking yoke 1712 is U-shaped and has two spaced-apart legs 1714 that extend downwardly. Each of the legs 1714 has a pivot lug 1715 formed thereon that is adapted to be received in a corresponding hole 1245 formed in the base 1240. Such an arrangement facilitates pivotally attaching the locking yoke 1712 to the base 1240. The locking yoke 1712 may include two locking lugs 1716 that project proximally and are configured to releasably engage corresponding locking ratchets or grooves 1704 in the distal attachment flange portion 1700 of the frame 1020. See Figure 3 . In various forms, the locking yoke 1712 is biased in the proximal direction by a spring or biasing member (not shown). Actuation of the locking yoke 1712 can be achieved by a latch button 1722 that is slidably mounted on a latch actuator assembly 1720 mounted to the base 1240. The latch button 1722 can be biased in the proximal direction relative to the locking yoke 1712. As will be discussed in further detail below, the locking yoke 1712 can be moved to an unlocked position by biasing the latch button in the distal direction, which also pivots the locking yoke 1712 out of engagement with the distal attachment flange portion 1700 of the frame 1020. When the locking yoke 1712 is "in engagement" with the distal attachment flange portion 1700 of the frame 1020, the locking lugs 1716 remain seated within corresponding locking ratchets or grooves 1704 in the distal attachment flange portion 1700.

[0114] When using an interchangeable shaft assembly that includes an end effector of the type described herein adapted to cut and fasten tissue, as well as other types of end effectors, it may be advantageous to prevent the interchangeable shaft assembly from inadvertently disengaging from the housing during actuation of the end effector. For example, in use, a clinician may actuate the closure trigger 1032 to grasp target tissue and manipulate it into a desired position. Once the target tissue is positioned within the end effector 1300 in a desired orientation, the clinician can fully actuate the closure trigger 1032 to close the anvil 2000 and clamp the target tissue in place for cutting and suturing. In this case, the first drive system 1030 has been fully actuated. After the target tissue has been clamped in the end effector 1300, it may be advantageous to prevent the shaft assembly 1200 from inadvertently disengaging from the housing 1012. One form of the latch system 1710 is configured to prevent such inadvertent disengagement.

[0115] As Figure 4As can be seen most specifically, the locking yoke 1712 includes at least one, and preferably two, locking hooks 1718 that are adapted to engage corresponding locking lug portions 1256 formed on the closure shuttle 1250. When the closure shuttle 1250 is in the unactuated position (i.e., the first drive system 1030 is unactuated and the anvil 2000 is open), the locking yoke 1712 is pivotable in the distal direction to unlock the interchangeable shaft assembly 1200 from the housing 1012. In this position, the locking hooks 1718 do not engage the locking lug portions 1256 on the closure shuttle 1250. However, when the closure shuttle 1250 is moved to the actuated position (i.e., the first drive system 1030 is actuated and the anvil 2000 is in the closed position), the locking yoke 1712 is prevented from pivoting to the unlocked position. In other words, if a clinician attempts to pivot the locking yoke 1712 to the unlocked position, or if, for example, the locking yoke 1712 is inadvertently bumped or contacted in a manner that would otherwise cause it to pivot distally, the locking hooks 1718 on the locking yoke 1712 will engage the locking lug portions 1256 on the closure shuttle 1250 and prevent the locking yoke 1712 from moving to the unlocked position.

[0116] The attachment of the interchangeable shaft assembly 1200 to the handle 1014 will now be described. To begin the coupling process, a clinician may position the base 1240 of the interchangeable shaft assembly 1200 above or near the distal attachment flange portion 1700 of the frame 1020 such that the tapered attachment portion 1244 formed on the base 1240 is aligned with the dovetail slot 1702 in the frame 1020. The clinician may then move the shaft assembly 1200 along an installation axis that is perpendicular to the shaft axis SA to seat the attachment portion 1244 into "operable engagement" with the corresponding dovetail receiving slot 1702. In doing so, the shaft attachment lug 1226 on the intermediate firing shaft portion 1222 will also seat in the bracket 1126 in the longitudinally movable drive member 1120, and a portion of the pin 1037 on the second closure link 1038 will seat in the corresponding hook 1252 in the closure shuttle 1250. As used herein, the term "operable engagement" in the context of two components means that the two components are sufficiently engaged with each other such that, once an actuation action is applied thereto, the components can perform their intended actions, functions, and / or procedures.

[0117] At least five systems of the interchangeable shaft assembly 1200 can be operatively coupled with at least five corresponding systems of the handle 1014. The first system can include a frame system that couples and / or aligns the frame 1020 or spine 1210 of the shaft assembly 1200 with the frame 1020 of the handle 1014. Another system can include a closure drive system 1030 that can operatively connect the closure trigger 1032 of the handle 1014 to the closure tube of the shaft assembly 1200. As outlined above, the closure shuttle 1250 of the shaft assembly 1200 can engage a pin 1037 on the second closure link 1038. Another system can include a firing drive system 1080 that can operatively connect the firing trigger 1130 of the handle 1014 to the intermediate firing shaft portion 1222 of the shaft assembly 1200. As outlined above, the shaft attachment lug 1226 can be operatively connected to the bracket 1126 of the longitudinal drive member 1120. Another system can include an electrical system that is capable of: sending a signal that the shaft assembly (such as shaft assembly 1200) has been operatively engaged with the handle 1014 to a controller (such as a microcontroller) in the handle 1014, and / or conducting power and / or communication signals between the shaft assembly 1200 and the handle 1014. For example, the shaft assembly 1200 can include an electrical connector 1810 operatively mounted to a shaft circuit board 1610. The electrical connector 1810 is configured to mate and engage with a corresponding electrical connector 1800 on the control circuit board 1100. More details regarding the circuitry and control systems can be found in U.S. Patent Application Serial No. 13 / 803,086, now U.S. Patent Application Publication 2014 / 0263541, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" and U.S. Patent Application Serial No. 14 / 226,142, now U.S. Patent 9,913,642, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM", the entire disclosures of which are hereby incorporated by reference. The fifth system can consist of a latch system for releasably locking the shaft assembly 1200 to the handle 1014.

[0118] In the illustrated example, anvil 2000 includes anvil body 2002 that terminates in anvil mounting portion 2010. Anvil mounting portion 2010 is movably or pivotally supported on elongate channel 1310 for selective pivotal travel about a fixed anvil pivot axis PA that is transverse to shaft axis SA relative to the elongate channel. In the illustrated arrangement, pivot members or anvil trunnions 2012 extend laterally out from each lateral side of anvil mounting portion 2010 to be received within corresponding trunnion brackets 1316 formed in upright walls 1315 of proximal end portion 1312 of elongate channel 1310. Anvil trunnions 2012 are pivotally held within their corresponding trunnion brackets 1316 by channel cover or anvil retainer 1290. Channel cover or anvil retainer 1290 includes a pair of attachment lugs that are configured to be retainingly received within corresponding lug grooves or notches formed in upright walls 1315 of proximal end portion 1312 of elongate channel 1310. See Figure 5 。

[0119] Still referring Figure 5 , in at least one arrangement, distal closure member or end effector closure tube 3050 employs two axially offset proximal positive jaw opening features 3060 and distal positive jaw opening feature 3062. Positive jaw opening features 3060, 3062 are configured to interact with corresponding release regions and stepped portions formed on anvil mounting portion 2010, as further described in detail in U.S. Patent Application Serial No. 15 / 635,631, now U.S. Patent Application Publication 2019 / 0000464, entitled “SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSUREMEMBER”, the entire disclosure of which is incorporated herein by reference. Other jaw opening arrangements may be employed.

[0120] Figure 6 and Figure 7 Illustrated is shaft assembly 100. Shaft assembly 100 includes attachment portion 110, shaft 120 that extends distally from attachment portion 110, and end effector 130 that is attached to shaft 120. Shaft assembly 100 is configured to grasp, suture, and cut tissue. Attachment portion 110 is configured to be attached to, for example, a handle of a surgical instrument and / or an arm of a surgical robot.

[0121] See Figure 7 , shaft assembly 100 includes cooperating articulation levers 144, 145 that are configured to articulate end effector 130 relative to shaft 120 about articulation joint 160. Shaft assembly 100 further includes articulation lock lever 148, outer shaft tube 162, and ridge portion 123.

[0122] See Figure 7 , the shaft assembly 100 includes a firing shaft 150, which includes a firing member 156 attached to the distal end of the firing shaft 150. The firing member 156 includes an upper cam flange configured to engage the anvil jaw 133 and a lower cam member configured to engage the cartridge jaw 132. The firing shaft 150 is configured to be advanced distally through a closing stroke to clamp the anvil jaw 133 relative to the cartridge jaw 132 using the cam member. The firing shaft 150 is further advanced through a firing stroke and is configured to cause the firing member 156 to be advanced through the cartridge jaw 132 to deploy a staple from the cartridge jaw 132 and cut tissue during the firing stroke. More details of the shaft assembly 100 can be found in U.S. Patent Application No. 15 / 385,887, entitled "METHOD FOR ATTACHING ASHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND,ALTERNATIVELY,TO A SURGICALROBOT", the entire disclosure of which is incorporated herein by reference.

[0123] Figure 8 and Figure 9 depicts a surgical instrument assembly 200 configured to be used with a surgical robot. The surgical instrument assembly 200 is configured to suture and cut tissue, but the surgical instrument assembly 200 can be adapted to handle tissue in any suitable manner, such as, for example, by applying thermal, electrical, and / or vibrational energy to the tissue. The surgical instrument assembly 200 includes a proximal control interface 210 configured to be coupled to the robotic arm of a surgical robot and a shaft assembly 220 configured to be attached to the proximal control interface 210. The shaft assembly 220 includes an end effector 230 configured to grasp, cut, and suture tissue. The proximal control interface 210 includes a plurality of drive disks 211, each drive disk for actuating one or more functions of the surgical instrument assembly 200. Each drive disk 211 can be independently driven by one or more motors of the surgical robot and / or the robotic arm of the surgical robot and / or driven in cooperation with one or more other drive disks 211. More details regarding the surgical instrument assembly 200 can be found in U.S. Patent Application No. 15 / 847,297, entitled "SURGICAL INSTRUMENTS WITH DUAL ARTICULATION DRIVERS", the entire disclosure of which is incorporated herein by reference.

[0124] The various embodiments disclosed herein can be employed, for example, in conjunction with Figures 10 to 12 a robotic system 300 of the type depicted in Figure 10 depicts that can be combined with Figure 11One type of master controller 301 used by the robotic arm of the type depicted from the moving cart 310. The master controller 301 and the robotic arm moving cart 310, as well as their respective components and control systems, are collectively referred to herein as the robotic system 300. Examples of such systems and devices are disclosed in U.S. Patent No. 7,524,320, entitled "MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS," and U.S. Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," the entire disclosures of which are incorporated herein by reference. Accordingly, various details of such devices will not be described in detail herein, except as may be necessary to understand the various embodiments and forms of the present disclosure. As is well known, the master controller 301 generally includes a master controller (generally designated 303 in Figure 10 ), which is grasped and manipulated in the air by the surgeon while the surgeon observes the surgery via the stereoscopic display 302. The master controller 301 generally includes manual input devices that preferably move in multiple degrees of freedom and typically also have actuatable handles for actuating tools (e.g., for closing grasping jaws, applying electrical potential to electrodes, etc.).

[0125] As Figure 11As can be seen, in one form, the robotic arm cart 310 can be configured to be capable of actuating one or more surgical tools generally referred to as 330. Various robotic surgical systems and methods employing a master controller and robotic arm cart arrangement are disclosed in U.S. Patent No. 6,132,368, entitled "MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD", the entire disclosure of which is incorporated herein by reference. In various forms, the robotic arm cart 310 includes a base 312, which in the illustrated embodiment can support surgical tools. In various forms, the surgical tools can be supported by a series of manually articulated links (generally referred to as device joints 314) and a robotic manipulator 316. In various embodiments, the link and joint arrangement can facilitate rotation of the surgical tool about a spatial point, as more fully described in U.S. Patent No. 5,817,084, entitled "REMOTE CENTER POSITIONING DEVICE WITH FLEXIBLE DRIVE", the entire disclosure of which is incorporated herein by reference. The parallelogram arrangement constrains the rotation to pivot about an axis 322a (sometimes referred to as the pitch axis). The connecting members that support the parallelogram links are pivotally mounted to the device joints 314( Figure 11), such that the surgical tool also rotates about an axis 322b (sometimes referred to as the yaw axis). The pitch axis 322a and the yaw axis 322b intersect at a remote center 324, which is aligned along the elongate axis of the surgical tool. When supported by the manipulator 316, the surgical tool can have additional degrees of freedom of actuation, including a sliding motion of the surgical tool along the longitudinal axis "LT-LT". When the surgical tool slides relative to the manipulator 316 (arrow 322c) along the tool axis LT-LT, the remote center 324 remains fixed relative to the base 326 of the manipulator 316. Thus, the entire manipulator is generally moved to reposition the remote center 324. The linkages 318 of the manipulator 316 can be driven by a series of motors 340. These motors actively move the linkages 318 in response to commands from a processor of the control system. Motors 340 can also be used to manipulate the surgical tool. Alternative joint structures and device arrangement structures are also contemplated. Examples of other joint and device arrangement structures are disclosed, for example, in U.S. Patent No. 5,878,193, entitled "AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING", the entire disclosure of which is hereby incorporated by reference. Additionally, although data communication between robotic components and the processor of a robotic surgical system has been initially described herein in the context of communication between a surgical tool and the master controller 301, it should be understood that similar communication can occur between the circuitry of a manipulator, a device joint, an endoscope, or other image capture device, etc., and the processor of a robotic surgical system for component compatibility confirmation, component type identification, component calibration (such as offset, etc.) communication, component and robotic surgical system connection confirmation, etc. According to at least one aspect, the various surgical instruments disclosed herein can be used in conjunction with other robotically controlled or automated surgical systems and are not necessarily limited to use with Figures 10 to 12 the specific robotic system components shown and described in the above-referenced documents.

[0126] Figure 13 A block diagram of a surgical system 1930 for use with one or more surgical instruments, tools, and / or robotic systems in accordance with one or more aspects of the present disclosure is shown. The system 1930 includes control circuitry 1932. The control circuitry 1932 includes a microcontroller 1933, which includes a processor 1934 and a storage medium (such as, for example, a memory 1935).

[0127] The motor assembly 1939 includes one or more motors driven by a motor driver. The motor assembly 1939 is operatively coupled to the drive assembly 1941 to drive or effect one or more motions at the end effector 1940. The drive assembly 1941 can include any number of components adapted to transfer motion to the end effector 1940, such as, for example, one or more linkages, rods, tubes, and / or cables.

[0128] For example, one or more sensors 1938 provide real-time feedback to the processor 1934 regarding one or more operating parameters monitored during a surgical procedure performed by the surgical system 1930. For example, the operating parameters can be associated with the user performing the surgical procedure, the tissue being treated, and / or one or more components of the surgical system 1930. The sensors 1938 can include any suitable sensors, such as, for example, magnetic sensors (such as Hall effect sensors), strain gauges, pressure sensors, inductive sensors (such as eddy current sensors), resistive sensors, capacitive sensors, optical sensors, and / or any other suitable sensors.

[0129] In addition to the above, in various arrangements, the sensors 1938 can include any suitable sensors for detecting one or more conditions at the end effector 1940, including but not limited to tissue thickness sensors (such as Hall effect sensors or reed switch sensors), optical sensors, magnetic induction sensors, force sensors, pressure sensors, piezoresistive membrane sensors, ultrasonic sensors, eddy current sensors, accelerometers, pulse oximeters, temperature sensors, sensors configured to be able to detect the electrical properties of a tissue passageway (such as capacitance or resistance), or any combination thereof. As another example, but not limited to, the sensors 1938 can include one or more sensors located at or around a joint movement joint extending proximally from the end effector 1940. Such sensors can include, for example, potentiometers, capacitive sensors (slide potentiometers), piezoresistive membrane sensors, pressure sensors, or any other suitable sensor type. In some arrangements, the sensors 1938 can include multiple sensors located at multiple positions within the end effector 1940.

[0130] In certain aspects, the system 1930 can include a feedback system 1952 that includes one or more devices for providing sensory feedback to the user. Such devices can include, for example, visual feedback devices (such as LCD displays, touchscreens, LED indicators), audio feedback devices (such as speakers, buzzers), or tactile feedback devices (such as tactile actuators).

[0131] The microcontroller 1933 can be programmed to perform various functions, such as precise control of the speed and position of the drive component 1941. In one aspect, the microcontroller 1933 can be any single-core or multi-core processor, such as those known as ARM Cortex produced by Texas Instruments. In one aspect, the main microcontroller 1933 can be an LM4F230H5QR ARM Cortex-M4F processor core purchased from, for example, Texas Instruments, which includes on-chip memory of 256KB single-cycle flash memory or other non-volatile memory (up to 40MHz), a prefetch buffer for improving performance above 40MHz, 32KB single-cycle SRAM, an internal ROM loaded with software, 2KB EEPROM, one or more PWM modules, one or more QEI analogs and / or one or more 12-bit ADCs with 12 analog input channels, the details of which can be seen in the product data sheet.

[0132] The microcontroller 1933 can be configured to be able to calculate a response in the software of the microcontroller 1933. The calculated response is compared with the measured response of the actual system to obtain an "observed" response, which is used for actual feedback decisions. The observed response is a favorable tuning value that equalizes the smooth continuous nature of the simulated response with the measured response, which can detect external influences on the system.

[0133] The motor assembly 1939 includes one or more electric motors and one or more motor drivers. The electric motor can be in the form of a brushed DC motor, which has a gearbox and a mechanical connection to the drive component 1941. In one aspect, the motor driver can be an A3941 purchased from Allegro Microsystems, Inc.

[0134] In various forms, the motor assembly 1939 includes a brushed DC drive motor with a maximum rotational speed of approximately 25,000 RPM. In other arrangements, the motor assembly 1939 can include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver can include, for example, an H-bridge driver including field effect transistors (FETs).

[0135] The motor assembly 1939 can be powered by a power source 1942. The power source 1942 can include one or more batteries, which can include a plurality of battery cells connected in series that can be used as a power source to power the motor assembly 1939. In some cases, the battery cells of the power assembly can be replaceable and / or rechargeable. In at least one example, the battery cell can be a lithium-ion battery, which can be capable of being connected to and separated from the power assembly.

[0136] In addition to the above, the end effector 1940 includes a first jaw 1921 and a second jaw 1931. During a closing movement that transitions the end effector 1940 from an open configuration toward a closed configuration, at least one of the first jaw 1921 and the second jaw 1931 is capable of rotating relative to the other. The closing movement can cause the jaws 1921, 1931 to grasp tissue therebetween. In some arrangements, sensors (such as, for example, strain gauges or microstrain gauges) can be configured to be able to measure one or more parameters of the end effector 1940, such as, for example, the magnitude of the strain applied to one or both of the jaws 1921, 1931 during the closing movement, which magnitude can indicate the closing force applied to the jaws 1921, 1931. The measured strain is converted into a digital signal and provided to, for example, the processor 1934. Additionally or alternatively, sensors (such as, for example, load sensors) can measure the closing force and / or the firing force applied to the jaws 1921, 1931.

[0137] In various arrangements, a current sensor can be employed to measure the current drawn by the motor of the motor assembly 1939. The force required to drive the drive assembly 1941 can correspond to, for example, the current drawn by the motor. The measured force is converted into a digital signal and provided to the processor 1934.

[0138] In one form, a strain gauge sensor can be used to measure, for example, the force applied by the end effector 1940 to tissue. The strain gauge can be coupled to the end effector 1940 to measure the force on the tissue being treated by the end effector 1940. In one aspect, the strain gauge sensor can measure the magnitude or amount of strain applied to the jaws of the end effector 1940 during the closing movement, which can indicate tissue compression. The measured strain is converted into a digital signal and provided to the processor 1934.

[0139] The measurements of tissue compression, tissue thickness, and / or the force required to close the end effector on tissue, respectively measured by the sensor 1938, can be used by the microcontroller 1933 to characterize corresponding values of the selected position and / or the speed of one or more components of the drive assembly 1941. In one case, a memory (such as, for example, the memory 1935) can store techniques, formulas, and / or look-up tables that can be employed by the microcontroller 1933 in the evaluation.

[0140] System 1930 may include wired or wireless communication circuitry to communicate with, for example, a surgical hub (e.g., surgical hub 1953), a communication hub, and / or a robotic surgical hub. Additional details regarding the proper interaction between system 1930 and surgical hub 1953 are disclosed in U.S. Patent Application Serial No. 16 / 209,423 (now U.S. Patent Application Publication No. 2019 / 0200981) entitled "METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS", the entire disclosure of which is incorporated herein by reference in its entirety.

[0141] In various aspects, control circuit 1932 may be configured to be capable of implementing the various processes described herein. In certain aspects, control circuit 1932 may include a microcontroller that includes one or more processors (e.g., a microprocessor, a microcontroller) coupled to at least one memory circuit. The memory circuit stores machine-executable instructions that, when executed by the processor, cause the processor to execute machine instructions to implement the various processes described herein. The processor may be any of a variety of single-core or multi-core processors known in the art. The memory circuit may include volatile storage media and non-volatile storage media. The processor may include an instruction processing unit and an arithmetic unit. The instruction processing unit may be configured to be capable of receiving instructions from the memory circuit of the present disclosure.

[0142] Alternatively, in certain cases, control circuit 1932 may be in the form of a combinational logic circuit configured to be capable of implementing the various processes described herein. The combinational logic circuit may include a finite state machine that includes combinational logic configured to be capable of receiving data, processing the data by the combinational logic, and providing an output.

[0143] Alternatively, in certain cases, control circuit 1932 may be in the form of a sequential logic circuit. The sequential logic circuit may be configured to be capable of implementing the various processes described herein. The sequential logic circuit may include a finite state machine. The sequential logic circuit may include, for example, combinational logic components, at least one memory circuit, and a clock. The at least one memory circuit may store the current state of the finite state machine. In certain cases, the sequential logic circuit may be synchronous or asynchronous. In other cases, control circuit 1932 may include a combination of a processor (e.g., processor 1934) and a finite state machine to implement the various processes herein. In other aspects, the finite state machine may include, for example, a combination of a combinational logic circuit and a sequential logic circuit.

[0144] Figure 14 FIG. 600 is a block diagram of a surgical system for use with one or more surgical instruments, tools, and / or robotic systems in accordance with one or more aspects of the present disclosure. Surgical system 600 is similar in many respects to surgical system 1930 and will not be repeated herein in the same detail for the sake of brevity. For example, similar to surgical system 1930, surgical system 600 includes control circuitry that includes a microcontroller 620 having a processor 622 and a memory 624, sensors 630, and a power source 628, which are respectively similar to microcontroller 1933, processor 1934, memory 1935, and power source 1942. Additionally, surgical system 600 includes a plurality of motors and corresponding drive assemblies that can be activated to perform various functions.

[0145] In some cases, a first motor can be activated to perform a first function, a second motor can be activated to perform a second function, a third motor can be activated to perform a third function, and a fourth motor can be activated to perform a fourth function, and so on. In some cases, the plurality of motors can be individually activated to cause, for example, a firing motion, a closing motion, and / or an articulation motion in end effector 1940. The firing motion, the closing motion, and / or the articulation motion can be transmitted to end effector 1940, for example, through a shaft assembly.

[0146] In some cases, system 600 can include a firing motor 602. Firing motor 602 can be operatively coupled to a firing motor drive assembly 604 that can be configured to be capable of transmitting a firing motion generated by motor 602 to the end effector, specifically for displacing an I-beam element. In some cases, the firing motion generated by motor 602 can cause, for example, a staple to be deployed from a staple cartridge into tissue captured by end effector 1940 and / or cause a cutting edge of the I-beam element to be advanced to cut the captured tissue. The I-beam element can be retracted by reversing the direction of motor 602.

[0147] In some cases, system 600 can include a closing motor 603. Closing motor 603 can be operatively coupled to a closing motor drive assembly 605 that is configured to be capable of transmitting a closing motion generated by motor 603 to end effector 1940, specifically for displacing a closing tube to close an anvil and compress tissue between the anvil and the staple cartridge. The closing motion can cause, for example, end effector 1940 to transition from an open configuration to a closed configuration to grasp tissue. End effector 1940 can be transitioned to an open position by reversing the direction of motor 603.

[0148] In some cases, system 600 may include, for example, one or more articulation motors 606a, 606b. Motors 606a, 606b may be operatively coupled to respective articulation motor drive assemblies 608a, 608b, which may be configured to transmit the articulation motion generated by motors 606a, 606b to the end effector. In some cases, the articulation motion may, for example, articulate the end effector relative to the shaft.

[0149] As described above, system 600 may include a plurality of motors that may be configured to perform various independent functions. In some cases, the plurality of motors of the surgical instrument or tool may be individually or independently activated to perform one or more functions while other motors remain inactive. For example, articulation motors 606a, 606b may be activated to articulate the end effector while firing motor 602 remains inactive. Alternatively, firing motor 602 may be activated to fire a plurality of staples and / or advance a cutting blade while articulation motors 606 remain inactive. Additionally, closure motor 603 may be activated simultaneously with firing motor 602 to advance the closure tube and I-beam element distally, as described in more detail below.

[0150] In some cases, system 600 may include a common control module 610 that may be used with the plurality of motors of the surgical instrument or tool. In some cases, the common control module 610 may adjust one of the plurality of motors at a time. For example, the common control module 610 may be individually coupled to and decoupled from the plurality of motors of the surgical instrument. In some cases, the plurality of motors of the surgical instrument or tool may share one or more common control modules such as common control module 610. In some cases, the plurality of motors of the surgical instrument or tool may independently and selectively engage the common control module 610. In some cases, the common control module 610 may switch from engaging one of the plurality of motors of the surgical instrument or tool to engaging another of the plurality of motors of the surgical instrument or tool.

[0151] In at least one example, the common control module 610 may selectively switch between operatively engaging the articulation motors 606a, 606b and operatively engaging the firing motor 602 or the closure motor 603. In at least one example, as Figure 14As shown, switch 614 can move or transition between multiple positions and / or states. For example, in a first position 616, switch 614 can electrically couple the common control module 610 to the firing motor 602; in a second position 617, switch 614 can electrically couple the common control module 610 to the closing motor 603; in a third position 618a, switch 614 can electrically couple the common control module 610 to the first joint movement motor 606a; and in a fourth position 618b, switch 614 can electrically couple the common control module 610 to the second joint movement motor 606b. In some cases, the separate common control module 610 can be electrically coupled to the firing motor 602, the closing motor 603, and the joint movement motors 606a, 606b simultaneously. In some cases, switch 614 can be a mechanical switch, an electromechanical switch, a solid-state switch, or any suitable switching mechanism.

[0152] Each of the motors 602, 603, 606a, 606b can include a torque sensor to measure the output torque on the shaft of the motor. Force on the end effector can be sensed in any conventional manner, such as by a force sensor on the outer side of the jaws or by a torque sensor of the motor used to actuate the jaws to sense the force on the end effector.

[0153] In various cases, as Figure 14 shown, the common control module 610 can include a motor driver 626, which can include one or more H-bridge FETs. The motor driver 626 can modulate the power transmitted from the power source 628 to the motors coupled to the common control module 610 based on inputs received from, for example, a microcontroller 620 (“controller”). In some cases, when a motor is coupled to the common control module 610, the microcontroller 620 can be used, for example, to determine the current consumed by the motor, as described above.

[0154] In various cases, the processor 622 can control the motor driver 626 to control the position, rotational direction, and / or speed of the motors coupled to the common controller 610. In some cases, the processor 622 can signal the motor driver 626 to stop and / or deactivate the motors coupled to the common controller 610.

[0155] In some cases, the memory 624 can include program instructions for controlling each of the motors of the surgical instrument 600 that can be coupled to the common controller 610. For example, the memory 624 can include program instructions for controlling the firing motor 602, the closing motor 603, and the joint movement motors 606a, 606b. Such program instructions can cause the processor 622 to control the firing function, the closing function, and the joint movement function based on inputs from an algorithm or control program of the surgical instrument or tool.

[0156] In some cases, one or more mechanisms and / or sensors such as sensor 630 can be used to alert the processor 622 as to which program instructions should be used in a particular setting. For example, sensor 630 can alert processor 622 to use program instructions associated with firing, closing, and articulating the end effector. In some cases, sensor 630 can include, for example, a position sensor that can be used to sense the position of switch 614. Thus, processor 622 can use program instructions associated with the firing I-beam of the end effector when, for example, sensor 630 detects that switch 614 is in the first position 616; processor 622 can use program instructions associated with closing the anvil when, for example, sensor 630 detects that switch 614 is in the second position 617; processor 622 can use program instructions associated with articulating the end effector when, for example, sensor 630 detects that switch 614 is in the third position 618a or the fourth position 618b.

[0157] In one aspect, the amount of compression applied to tissue can affect the desired firing speed of a firing member (such as firing member 1900) during the firing stroke. The amount of time the surgeon chooses to pre-compress the tissue prior to firing is a useful input for achieving a successful firing. Thus, it would be beneficial to establish a modifier for firing speed or various other firing motion parameters based on parameters associated with applying compression to the tissue.

[0158] In some embodiments, the parameter associated with applying compression can be the amount of time that has elapsed since the end effector (such as end effector 1300) has been in a clamped state. In some embodiments, the clamped state is defined as a state in which the end effector 1300 is in a closed configuration and the closing trigger 1032 is in an actuated position. In other embodiments, the clamped state is defined as a state in which the elongate channel 1310 of the end effector 1300 and the anvil 2000 are within a threshold distance of each other. In other embodiments, the clamped state is defined as a state in which the closing trigger 1032 has pivoted a threshold distance away from the unactuated position.

[0159] In various embodiments, by way of example, a timer is used to measure the amount of time that has elapsed between when the end effector has entered the clamped state and when the user actuates the firing system (such as firing drive system 1080) of the surgical instrument. In some embodiments, for example, when the firing trigger 1130 is pivoted to the actuated position, actuation of the firing drive system 1080 is detected, such as using a position sensor or a Hall effect sensor. In some embodiments, actuation of the firing system is detected when the power source 1090 supplies current or voltage to the motor 1082, as detected by a current sensor or a voltage sensor, respectively.

[0160] Based on the amount of elapsed time measured by a timer, a control system (such as the handle circuit board 1100) can set the firing motion parameters of the firing system. In various embodiments, setting the firing motion parameters includes, for example, selecting the values of the firing motion parameters from a look-up table or based on a formula stored in a memory. It should be understood that other embodiments can be envisioned where the control system is similar to the controller 1933 and includes a processor (such as the processor 1934) and a memory (such as the memory 1935). Other embodiments can be envisioned where the control system is similar to the controller 620 or any other suitable control system described elsewhere herein.

[0161] In some embodiments, the firing motion parameters include the duty cycle of a motor (such as the motor 1082) that drives the firing member. In some embodiments, the firing motion parameters include the speed of the motor. In some embodiments, the firing motion parameters include the current supplied to the motor from a power source (such as the power source 1090, the power source 1942, or the power source 628). In some embodiments, the firing motion parameters include the voltage supplied to the motor. In some embodiments, the firing motion parameters include the speed of the firing member. In some embodiments, the firing motion includes the acceleration of the firing member. In some embodiments, the firing motion parameters include the firing force on the firing member. In some embodiments, the firing motion parameters include any suitable parameter associated with the firing system described elsewhere herein.

[0162] In various embodiments, setting the firing motion parameters of the firing system includes adjusting default firing motion parameters based on the amount of elapsed time measured by a timer. In various embodiments, the default firing motion parameters are stored in a memory and retrieved by the control system. In various other embodiments, the default firing motion parameters include user-defined default firing motion parameters.

[0163] Now referring Figure 15 , according to at least one aspect of the present disclosure, the graph 18000 is provided. In various embodiments, aspects of the graph 18000 are stored in a memory (such as the memory 1935) and can be retrieved by the control system. For example, one or more portions of the graph 18000 can be stored in the form of one or more formulas, look-up tables, and / or any other form suitable for representing the relationships depicted by the graph 18000. As Figure 15As seen, graph 18000 shows the relationship between a firing motion parameter modification 18002 of default firing motion parameters and the elapsed time 18004 since the end effector of the surgical instrument entered the clamped state. Various techniques can be implemented to measure the elapsed time since entering the clamped state. In one example, a timer is started once the end effector reaches the clamped state. In various cases, as detailed elsewhere in this disclosure, the end effector of the surgical instrument is operable to clamp tissue between the jaws of the end effector. At least one of the jaws can move towards the clamped state relative to the other jaw. After reaching the clamped state, the clinician activates the firing system, which is responsible for deploying staples into the clamped tissue and, in some cases, causing a cutting member to travel through the tissue.

[0164] Once the control system detects that the firing system has been actuated, the control system identifies a point along the modified curve 18006 of graph 18000 and adjusts the default firing motion parameters according to the corresponding value from the modified curve 18006. Actuation can be detected, for example, based on one or more sensor readings. For example, actuation detection can be based on detecting the movement of a trigger or the pressing of an actuation button. Additionally or alternatively, actuation detection can be based on detecting the initial movement of one or more components of the firing system, such as a firing member, such as firing member 1900.

[0165] In some embodiments, for example, the default firing motion parameters can include the default duty cycle of a motor, such as motor 1082. In some embodiments, the default firing motion parameters can include the default current supplied to the motor. In some embodiments, the default firing motion parameters can include the default voltage applied to the motor. In some embodiments, the default firing motion parameters can include the default speed at which the motor drives the firing member. Other firing motion parameters are described elsewhere herein. Based on the length of the elapsed time measured between the end effector reaching the clamped state and the firing system being actuated, the control system can modify the default firing motion parameters to adjusted firing motion parameters. In one embodiment, once the end effector reaches the clamped state, at point 18008 on the modified curve 18006, the user can immediately actuate the firing system. Thus, the control system can modify the default firing motion parameters according to the identified value at point 18008 along the modified curve 18006.

[0166] In some embodiments, point 18008 corresponds to a value less than 1. Assuming that insufficient time has been given for the tissue to relax when the end effector enters the clamping state, using a modifier less than 1 will prevent the firing system from driving the firing member with default parameters. In one embodiment, with a default speed V1 and point 18008 corresponding to a value less than 1, the control system drives the firing member at an adjusted speed V2 that is less than V1. Thus, using graph 18000 can encourage the clinician to give the tissue sufficient time to relax such that the firing member is not driven with firing motion parameters less than the default firing motion parameter values. Other embodiments are envisioned where point 18008 corresponds to a value of 1 or greater than 1.

[0167] As seen in graph 18000, a threshold 18010 corresponding to a point along modification curve 18006 is provided at which the firing system can be driven using default firing motion parameters. In some embodiments, when a threshold amount of time has been reached or exceeded, the control system can provide feedback to the clinician, such as auditory feedback, tactile feedback, visual feedback, etc., thereby notifying the clinician that sufficient time has elapsed to allow the use of default firing motion parameters.

[0168] In various embodiments, modification curve 18006 can be represented by the formula defined as follows:

[0169] Y = C(A*log(t + 1)+B)

[0170] where A and B are constants, C is the default firing motion parameter, t is time, and Y is the adjusted firing motion parameter. In various embodiments, constants A and B are stored in a memory and retrieved by the control system. In various embodiments, constants A and B are provided by the user at an input interface. In one aspect, constant B corresponds to the modification value at point 18008. In one embodiment, where constant A is 1, constant B is 0.25, and the default firing motion parameter C is the firing speed V1, the following look-up table can be stored in the memory:

[0171] Time "t" Adjusted firing speed "Y" 0 <![CDATA[0.25V1]]> 1 <![CDATA[0.55V1]]> 2 <![CDATA[0.73V1]]> 3 <![CDATA[0.85V1]]> 4 <![CDATA[0.95V1]]> 4.62 (threshold 18010) <![CDATA[V1]]> 5 <![CDATA[1.03V1]]> 6 <![CDATA[1.09V1]]>

[0172] Thus, in certain cases where the firing motion parameter is the firing speed (e.g., the speed of the firing member that effects the firing stroke of the firing system), graph 18000 provides an algorithm for modifying the speed of the firing member based on the amount of time elapsed after the end effector has reached the clamping state. It should be noted that the above formulas, values, and tables are merely examples representing ways to perform dynamic modification of default parameters. Other formulas and / or other suitable forms representing dynamic modification over time can be implemented.

[0173] In various embodiments, the control system may dynamically adjust the firing motion parameters after the firing system has been actuated. In some embodiments, the control system may continuously adjust the firing motion parameters. In some embodiments, the control system may discretely adjust the firing motion parameters, such as adjusting the firing motion parameters per second or every few seconds. In some embodiments, the adjustment of the firing motion parameters may continue according to the modification curve 18006. In one embodiment using the table above, the firing system is actuated after 4 seconds, which causes the firing system to drive the firing member at an adjusted speed of 0.95V1. At one second into the firing stroke, the control system may adjust the adjusted firing speed to 1.03V1 (the 5-second point in the aforementioned table). At two seconds into the firing stroke, the control system may adjust the firing speed to 1.09V1 (the 6-second point in the table). Thus, taking into account the amount of time before the firing system is actuated and the amount of time after the firing system is actuated, the control system may dynamically adjust the firing motion parameters utilized by the firing system based on the amount of time elapsed since the end effector was in the clamped state.

[0174] Now referring Figure 16 , in accordance with at least one aspect of the present disclosure, there is provided graph 18100. In various cases, aspects of graph 18100 may be stored in a memory (such as memory 1935) and retrieved by the control system. In various embodiments, one or more portions of graph 18100 may be stored in the form of one or more formulas, look-up tables, or any other form suitable for representing the relationships depicted by graph 18100. As Figure 16 seen, graph 18100 shows the relationship between the firing motion parameter modification 18102 of the default firing motion parameters and the elapsed time 18104 since the end effector entered the clamped state. Various techniques may be implemented to measure the elapsed time since entering the clamped state. In one example, a timer is started once the end effector reaches the clamped state. In various cases, as detailed elsewhere in the present disclosure, the end effector of the surgical instrument may be operative to clamp tissue between the jaws of the end effector. At least one of the jaws may move towards the clamped state relative to the other jaw. After reaching the clamped state, the clinician activates the firing system, which is responsible for deploying staples into the clamped tissue and, in some cases, advancing a cutting member through the tissue.

[0175] Once the control system detects that the firing system has been actuated, the control system identifies a point along the modified curve 18106 of the graph 18100 and adjusts the default firing motion parameters according to the corresponding values from the modified curve 18006. Actuation can be detected, for example, based on one or more sensor readings. For example, actuation detection can be based on detecting the movement of a trigger or the pressing of an actuation button. Additionally or alternatively, actuation detection can be based on detecting the initial movement of one or more components of the firing system (such as, for example, a firing member, such as the firing member 1900).

[0176] In various embodiments, the point 18108 corresponds to a value greater than 1. In various other embodiments, the point 18108 corresponds to the value 1. In one embodiment, where the default speed V1 and the point 18108 correspond to a 1.5-fold modification, the control system can drive the firing member at an adjusted speed of 1.5V1. In another embodiment, where the default speed V1 and the point 18108 correspond to a 1-fold modification, the control system can drive the firing member at the default speed V1.

[0177] As can be seen in the graph 18100, the modified curve 18106 has a negative slope, resulting in the adjusted firing motion parameters gradually decreasing over time. In various embodiments where the value at the point 18108 is greater than 1, a threshold 18110 is provided along the curve, where the firing system is driven using the default firing motion parameters. In some embodiments, when a sufficient amount of time has elapsed at or beyond the threshold 18110, the control system can provide feedback to the clinician, such as auditory feedback, tactile feedback, visual feedback, etc., thereby notifying the clinician that a sufficient amount of time has passed, which will result in the use of the default firing motion parameters. In various embodiments, the graph 18100 can include a threshold 18112 where the firing parameters no longer decrease.

[0178] In various embodiments, the modified curve 18106 can be represented by the formula defined as follows:

[0179] Y = -A * t+(B + C)

[0180] where A and B are constants, C is the default firing motion parameter, t is time, and Y is the adjusted firing motion parameter. In various embodiments, the constants A and B are stored in the memory and retrieved by the control system. In various embodiments, the constants A and B are provided by the user at the input interface. In one embodiment, where it is desired that the point 18108 is the default firing motion parameter, C is equal to 0. In one embodiment, where the constant A is 2, the constant B is 6, and the default firing motion parameter C is the firing speed V1, the following lookup table can be stored in the memory:

[0181] Time "t" Adjusted firing speed "Y" 0 <![CDATA[V1+6]]> 1 <![CDATA[V1+4]]> 2 <![CDATA[V1+2]]> 3 (threshold 18110) <![CDATA[V1]]> 4 <![CDATA[V1-2]]> 5 <![CDATA[V1-4]]> 6 <![CDATA[V1-6]]> 7 <![CDATA[V1-8]]>

[0182] Accordingly, the foregoing graph 18100 provides an algorithm for reducing the speed of the firing member based on the amount of time elapsed after the end effector has reached the clamped state. It should be noted that the above formulas, values, and tables are merely examples representing ways to perform dynamic modification of default parameters. Other formulas and / or other suitable forms representing dynamic modification over time may be implemented.

[0183] In various embodiments, the control system may dynamically adjust the firing motion parameters after the firing system has been actuated. In some embodiments, the control system may continuously adjust the firing motion parameters. In some embodiments, the control system may discretely adjust the firing motion parameters, such as adjusting the firing motion parameters per second or every few seconds. In some embodiments, the adjustment of the firing motion parameters may continue according to the modified curve 18106 on the graph. In one embodiment using the above table, the firing system is actuated after 4 seconds, which causes the firing system to drive the firing member at an adjusted speed of V1-2. At one second into the firing stroke, the control system may adjust the adjusted firing speed to V1-4 (the 5-second point in the table). At two seconds into the firing stroke, the control system may adjust the firing speed to V1-6 (the 6-second point in the table). Accordingly, considering the amount of time before the firing system is actuated and the amount of time after the firing system is actuated, the control system may dynamically adjust the firing motion parameters utilized by the firing system based on the amount of time elapsed since the end effector was in the clamped state.

[0184] In various embodiments, the control system may utilize different graphs / look-up tables after the firing system has been actuated. In one embodiment using the above table, the firing system is actuated after 4 seconds, which causes the firing system to drive the firing member at an adjusted speed of V1-2. Once the firing system is actuated, the control system may utilize different graphs / look-up tables, such as graph 18000. Using the above example graph, at one second into the firing stroke, the control system may adjust the adjusted firing speed to 1.03V1 (the 5-second point in the example table associated with graph 18000). Accordingly, the control system may switch between reducing and increasing the adjustment of the firing motion parameters.

[0185] In various other embodiments, a graph and / or look-up table is provided according to a modified curve that is a parabola. In various other embodiments, a graph and / or look-up table is provided according to a modified curve that is an exponential function. In various other embodiments, a graph and / or look-up table represented by is provided, where A and B are constants, t is time, and Y is the adjusted firing motion parameter. Various other formulas and / or other suitable forms representing dynamic modification over time may be implemented.

[0186] Now refer to Figure 17, according to at least one aspect of the present disclosure, a method 18200 for controlling a surgical instrument is provided. The method 18200 includes detecting 18202 at a first time point that the end effector of the surgical instrument reaches a clamped state. In one embodiment, the circuit board 1100 uses a position sensor to detect when the end effector 1300 reaches the clamped state, and the position sensor can sense when the closing trigger 1032 reaches the actuated position. In one embodiment, the circuit board 1100 uses a Hall effect sensor to detect when the end effector 1300 reaches the clamped state, and the Hall effect sensor can sense when the anvil 2000 is within a threshold distance from the elongate channel 1310. In various embodiments, the circuit board 1100 uses any number of sensors to detect when the end effector 1300 reaches the clamped state, and these sensors detect the positions of components associated with the closing system 3000, such as the position of the closing shuttle 1250, the position of the closing link 1038, or the position of the distal closing tube section 3030.

[0187] The method 18200 further includes detecting 18204 at a second time point the actuation of the firing system of the surgical instrument. In one exemplary embodiment, when the firing trigger 1130 pivots to the actuated position, the circuit board 1100 detects the actuation of the firing drive system 1080. In one embodiment, when the circuit board 1100 detects the current supplied from the power source 1090 to the motor 1082 via a current sensor, the actuation of the firing drive system 1080 is detected.

[0188] The method 18200 further includes setting 18206 the firing motion parameters of the firing system based on the elapsed time from the first time point to the second time point. In various embodiments, the circuit board 1100 can use a timer to measure the length of the elapsed time that has occurred between the end effector 1300 reaching the clamped state and the actuation of the firing drive system 1080. In some embodiments, the circuit board 1100 can retrieve the firing motion parameters from a look-up table stored in a memory (such as the memory 1935) according to the length of the elapsed time. In some embodiments, the circuit board 1100 can retrieve a modified value that can be used to adjust the default firing motion parameters from a curve or look-up table (such as the curves 18000, 18100) stored in the memory according to the length of the elapsed time. In one embodiment, the firing motion parameters can include the duty cycle of the motor 1082. In one embodiment, the firing motion parameters can include the speed of the motor 1082. In some embodiments, setting the firing motion parameters can include setting a plurality of firing motion parameters.

[0189] Method 18200 also includes using a firing system to drive firing member 1900 through a firing stroke using firing motion parameters. In some embodiments, circuit board 1100 may cause motor 1082 of firing drive system 1080 to drive firing member 1900 through a firing stroke using firing motion parameters, which causes firing member 1900 to deploy staples removably stored in staple cartridge 1301.

[0190] Accordingly, the foregoing method 18200 provides a clinician with the freedom to select how long they wish to hold the end effector in a clamped state before actuating the firing system. Based on the amount of elapsed time in the clamped state, the control system will automatically select appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the ability of the control system to select firing motion parameters without user input.

[0191] In various embodiments, method 18200 optionally also includes dynamically adjusting 18210 firing motion parameters during the firing stroke based on the elapsed time from a first time point to the current time point. In some embodiments, circuit board 1100 may use a timer to measure the amount of elapsed time from when the end effector reaches the clamped state to the current time point during the firing stroke and dynamically adjust the firing motion parameters. In one embodiment, the user may hold the end effector in the clamped state for 5 seconds before actuating the firing system, and circuit board 1100 may set the firing motion parameters according to a value corresponding to being in the clamped state at 5 seconds found in a look-up table. During the firing stroke, for example, such as 3 seconds into the firing stroke, the control system may look at the same look-up table or a different look-up table, and the corresponding value is in the clamped state for 8 seconds (5 seconds before firing system actuation plus 3 seconds into the firing stroke). Accordingly, the control system may dynamically adjust the firing motion parameters based on the length of elapsed time the tissue has been clamped by the end effector.

[0192] In another embodiment, the user may hold the end effector in the clamped state for 5 seconds before actuating the firing system, and circuit board 1100 may set the firing motion parameters according to a modified value corresponding to being in the clamped state at 5 seconds (such as from Figure 15 or Figure 16 a determined modified value). During the firing stroke, such as 3 seconds into the firing stroke, the control system may look at the same curve ([[]] Figure 15 or Figure 16 ), and the corresponding modified value is in the clamped state for 8 seconds (5 seconds before firing system actuation plus 3 seconds into the firing stroke). Accordingly, the control system may continuously adjust the firing motion parameters using a modified curve based on the length of elapsed time the tissue has been clamped by the end effector.

[0193] In some cases, a clinician may transition the end effector to a clamping state to clamp onto tissue. After a certain period of time, the clinician may decide that they wish to reposition the end effector at a different location on the tissue, or the clinician inadvertently or intentionally relaxes their grip on the closure actuator. Accordingly, the clinician transitions the end effector from the clamping state toward the release state and reclamps the tissue at the new location. Since the tissue has already been clamped before the clinician repositions the tissue, less clamping time may be required to allow the tissue to fully relax before performing a firing stroke. Accordingly, an algorithm for the clinician to release and re-clamp onto tissue is desired, such as releasing and re-clamping onto the same tissue that has been given an opportunity to relax.

[0194] Now referring to Figure 18 , in accordance with at least one aspect of the present disclosure, a graph 18250 generated by an algorithm is provided. In various cases, the algorithm may be stored in a memory (such as memory 1935) and may be executed by a processor (such as processor 1934). As Figure 18 seen, graph 18250 shows the relationship between a firing motion parameter modification 18252 of default firing motion parameters and the elapsed time 18254 since the end effector entered the clamping state, taking into account the elapsed time for the end effector to transition out of and back into the clamping state, as will be described in detail below.

[0195] In operation, when the user transitions the end effector to the clamping state, a timer is started. Additionally, the algorithm implements a first modification curve to track the firing motion parameter modification that will be applied to the default firing motion parameters to produce adjusted firing motion parameters. In various embodiments, the first modification curve is represented by a formula, such as a linear formula, a logarithmic formula, a parabolic formula, a formula, or any other suitable formula. Referring to Figure 18 , when the control system detects that the end effector has reached the clamping state (i.e., point 18258), the control system starts the timer and the first modification curve 18256 to track the firing motion parameter modification to the default firing motion parameters. In one embodiment, if the user actuates the firing system, the control system will identify the corresponding point along the modification curve 18256 based on the determined elapsed time that will be used to modify the default firing motion parameters.

[0196] At a time point after the end effector has reached the clamping state but before the firing system is actuated, the user may choose to temporarily transition the end effector out of the clamping state to reposition the end effector. Accordingly, the control system detects the end effector transitioning out of the clamping state and implements a second modification curve that is different from the first modification curve. In various embodiments, the second modification curve is represented by a formula, such as a linear formula, a logarithmic formula, a parabolic formula, a formula or any other suitable formula.

[0197] In some embodiments, the control system uses a position sensor to detect when the end effector 1300 transitions out of the clamped state, the position sensor being able to sense when the closure trigger 1032 has moved away from the actuated position. In one embodiment, the control system uses a Hall effect sensor to detect when the end effector 1300 transitions out of the clamped state, the Hall effect sensor being able to sense when the anvil 2000 has moved to within a threshold distance of the elongate channel 1310. In various embodiments, the control system uses any number of sensors to detect when the end effector 1300 transitions out of the clamped state, the sensors detecting the position of components associated with the closure system 3000, such as the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0198] In one embodiment, referring to Figure 18 , at time t1, the control system detects that the end effector transitions out of the clamped state at point 18259 on the first modified curve 18256. Based on this detection, the control system can start a second timer to measure how long the end effector has been out of the clamped state, and implement a second modified curve 18260. As Figure 18 seen, the second modified curve 18260 adjusts the value associated with the modification point 18259 from the point along the first modified curve 18256 when the end effector transitions out of the clamped state. In some embodiments, the second modified curve 18260 can be a negative modified curve, thereby reducing the adjustment to the default firing motion parameters provided by the first modified curve 18256. In various other embodiments, the second modified curve 18260 can be a positive modified curve, thereby increasing the adjustment to the default firing motion parameters when the first modified curve is a decreasing modified curve similar to the modification curve 18106. It should be understood that when the second modified curve 18260 is implemented, the firing system cannot be actuated because the end effector is not in the clamped state.

[0199] At a time point after the end effector transitions out of the clamped state, the end effector can return to the clamped state. Accordingly, the control system detects that the end effector returns to the clamped state and implements a third modified curve that is different from the second modified curve. In various embodiments, the third modified curve can be the same as the first modified curve. In various embodiments, the third modified curve can be different from the first modified curve. In various embodiments, the third modified curve is represented by a formula, such as a linear formula, a logarithmic formula, a parabolic formula, a formula or any other suitable formula.

[0200] In one embodiment, referring toFigure 18 At time t2, the control system detects that the end effector returns to the clamped state at point 18261 on the second modified curve 18260. Based on this detection, the control system can start a third timer to measure how long the end effector is in the clamped state and implement a third modified curve 18262. As Figure 18 seen, the third modified curve 18262 adjusts the value associated with the modified point 18261 from the point along the second modified curve 18260 when the end effector returns to the clamped state. In one embodiment, if the user actuates the firing system, the control system will identify a point along the third modified curve 18262 based on the determined elapsed time that will be used to modify the default firing motion parameters.

[0201] Accordingly, the foregoing algorithm allows the clinician to transition the end effector into and out of the clamped state without fully resetting the amount of time required to clamp the tissue and obtain the benefits of modified firing motion parameters. The algorithm takes into account the time the end effector is out of the clamped state and also the time the end effector has been clamped onto the tissue. It should be understood that the provided graph 18250 is merely exemplary and can vary depending on the number of times the user transitions the end effector into and out of the clamped state, the amount of time the end effector is out of the clamped state, and whether the end effector fully transitions to the unclamped state. In scenarios where the end effector does not transition to the unclamped state after point 18258, the algorithm will only implement the first modified curve, such as the first modified curve 18256, when determining the modified firing motion parameters to be used when the firing system is actuated.

[0202] Now referring to Figure 19 , according to at least one aspect of the present disclosure, a method 18300 for controlling a surgical instrument is provided. Method 18300 includes detecting 18302 at a first time point that the end effector of the surgical instrument reaches the clamped state. In one embodiment, the circuit board 1100 uses a position sensor to detect when the end effector 1300 reaches the clamped state, and the position sensor can sense when the closure trigger 1032 reaches the actuated position. In one embodiment, the circuit board 1100 uses a Hall effect sensor to detect when the end effector 1300 reaches the clamped state, and the Hall effect sensor can sense when the anvil 2000 is within a threshold distance of the elongate channel 1310. In various embodiments, the circuit board 1100 uses any number of sensors to detect when the end effector 1300 reaches the clamped state, and these sensors detect the position of components associated with the closure system 3000, such as the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube section 3030.

[0203] Method 18300 further includes detecting 18304 at a second time point that the end effector of the surgical instrument transitions out of the clamped state. In one embodiment, the control system uses a Hall effect sensor to detect when the end effector 1300 transitions out of the clamped state, and the Hall effect sensor can sense when the anvil 2000 moves to within a threshold distance of the elongate channel 1310. In various embodiments, the control system uses any number of sensors to detect when the end effector 1300 transitions out of the clamped state, and these sensors detect the positions of components associated with the closure system 3000, such as the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0204] Method 18300 further includes detecting 18306 at a third time point that the end effector returns to the clamped state. In various embodiments, the control system can use the various sensors described above with respect to block 18302 to detect when the end effector returns to the clamped state.

[0205] Method 18300 further includes detecting 18308 at a fourth time point the actuation of the firing system of the surgical instrument. In one exemplary embodiment, when the firing trigger 1130 pivots to the actuated position, the circuit board 1100 detects the actuation of the firing drive system 1080. In one embodiment, when the circuit board 1100 detects current supplied from the power source 1090 to the motor 1082 via a current sensor, the actuation of the firing drive system 1080 is detected.

[0206] Method 18300 further includes setting 18310 the firing motion parameters of the firing system based on a first elapsed time from the first time point to the second time point, a second elapsed time from the second time point to the third time point, and a third elapsed time from the third time point to the fourth time point. In various embodiments, the circuit board 1100 can use a timer to measure the lengths of the elapsed times that have occurred from the first time point to the second time point, from the second time point to the third time point, and from the third time point to the fourth time point. In some embodiments, the circuit board 1100 can retrieve the firing motion parameters from a look-up table stored in a memory (such as the memory 1935) based on the lengths of the elapsed times. In some embodiments, the circuit board 1100 can implement an algorithm, such as the algorithm discussed above with respect to the graph 18250, to determine modified values that can be used to adjust the default firing motion parameters.

[0207] In one embodiment, the firing motion parameters can include the duty cycle of the motor 1082. In one embodiment, the firing motion parameters can include the speed of the motor 1082. In some embodiments, setting the firing motion parameters can include setting a plurality of firing motion parameters.

[0208] Method 18300 further includes using a firing system to drive a firing member 18312 through a firing stroke using firing motion parameters. In some embodiments, the circuit board 1100 may cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, which causes the firing member 1900 to deploy staples removably stored in the staple cartridge 1301.

[0209] Accordingly, the foregoing method 18300 provides the clinician with the freedom to choose how long they wish to hold the end effector in the clamped state before actuating the firing system, while also enabling the clinician to release and re-clamp tissue without completely disregarding the modifications accumulated from the first modification curve. Based on the amount of time elapsed, the control system will automatically select appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the ability of the control system to select the firing motion parameters without user input.

[0210] In various embodiments, method 18300 optionally further includes dynamically adjusting 18314 the firing motion parameters during the firing stroke based on the elapsed time from a first time point to the current time point. In some embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed from when the end effector reaches the clamped state to the current time point during the firing stroke and dynamically adjust the firing motion parameters. In one embodiment, referring to Figure 18 , in a scenario where the clinician actuates the firing system after time t2, the control system may continue to modify the firing motion parameters during the firing stroke according to the third modification curve 18262. Accordingly, the control system may utilize the modification curves to dynamically adjust the firing motion parameters based on the length of time the tissue has been clamped by the end effector.

[0211] As described above, the amount of compression applied to the tissue may affect the desired firing speed of the firing member (such as firing member 1900) during the firing stroke. As the end effector (such as end effector 1300) transitions from the open state to the clamped state, the end effector may reach a partial clamping state. In one aspect, the partial clamping state is defined as a state between the open state and the clamped state in which the end effector makes initial contact with the tissue positioned therein. In one aspect, the partial clamping state is defined as a state in which the anvil of the end effector is within a threshold distance of the elongated channel of the end effector. In one aspect, the partial clamping state is defined as a state in which the closure trigger has moved a threshold amount from the unactuated state towards the actuated state. In one aspect, the partial clamping state is defined as a state in which the firing member responsible for closing the end effector has moved a threshold linear distance.

[0212] In a partial clamping state, the end effector can begin to apply pressure to the tissue positioned therein, which can cause fluid within the tissue to begin to flow out before the end effector has reached the clamping state. Once the end effector reaches the clamping state, fluid within the tissue can continue to flow out from the tissue positioned between the anvil and the elongate channel of the end effector, thereby further stabilizing the tissue in preparation for suturing and optional cutting. Thus, the desired firing speed of the firing member can depend on factors affecting tissue stabilization and other factors.

[0213] Now referring to Figure 20 , in accordance with at least one aspect of the disclosure, there is provided Graph 18350, showing the relationship between the closure trigger stroke 18352 and time 18354. As shown at t0, the closure trigger (such as closure trigger 1032) is in the unactuated position. In one aspect, the unactuated position of the closure trigger can correspond to the open state of the end effector (such as end effector 1300). In some embodiments, the position of the closure trigger can be monitored by a control system (such as by circuit board 1100) using any number of sensors described elsewhere herein.

[0214] From t0 to t1, the closure trigger pivots from the unactuated position toward the actuated position, which causes the end effector to transition from the open state toward the clamping state. At t1, the end effector reaches the partial clamping state, which as described above can be a state where the end effector makes initial contact with the tissue within the end effector. In some embodiments, the end effector can include a pressure sensor that can detect the initial contact with the tissue as the end effector transitions toward the clamping state. In various embodiments, the inflection point of the load curve is used as the tissue contact or tissue compression start point. When it is detected that the end effector has reached the partial clamping state, the control system can start a timer to measure the amount of time t that the end effector is in the partial clamping state before the firing system (such as firing drive system 1080) is actuated. pc In one aspect, determining the inflection point of the tissue load versus time curve (tissue creep stabilization) can be used to determine the tissue stability or the time of completed tissue compression.

[0215] In various other embodiments, the closure system can include a motor-driven closure system (such as closure motor drive assembly 605) having a closure motor (such as closure motor 603). With a motor-driven closure system, the control system can determine the initial tissue contact by monitoring the current supplied to the closure motor as a way to determine the magnitude of the clamping load on the jaws of the end effector. In one aspect, a spike in the current supplied to the closure motor indicates the initial tissue contact, and thus can indicate that the end effector has reached the partial clamping state.

[0216] From t1 to t2, the closure trigger can continue to pivot towards the actuated state, thereby continuing to drive the end effector towards the clamped state. As the end effector transitions towards the clamped state, the anvil of the end effector can apply pressure to the tissue captured within the end effector, thereby forcing fluid out of the tissue and preparing the tissue for cutting and suturing.

[0217] At t2, the closure trigger reaches the actuated state, which corresponds to the end effector reaching the clamped state. In various embodiments, the control system can utilize various sensors as described elsewhere herein to detect the closure trigger reaching the actuated position and / or the end effector reaching the clamped state. Once the end effector reaches the clamped state, the control system can initiate a second timer to measure the time t that the end effector remains in the clamped state before the firing system is actuated. c amount.

[0218] From t2 to t3, the end effector remains in the clamped state to allow fluid to flow out of the tissue, thereby further stabilizing the tissue before cutting and suturing. In one aspect, the control system can monitor this tissue creep by monitoring the amount of pressure applied by the end effector to the tissue over time. In one aspect, after the end effector reaches the clamped state, the pressure detected by the pressure sensor can continuously decrease due to fluid moving away from the tissue clamped within the end effector. The control system can determine when the tissue within the end effector has stabilized by monitoring this change in pressure over time. In some embodiments, the tissue can be stabilized when the change in pressure detected by the pressure sensor over time is substantially zero. In some embodiments, the tissue can be stabilized when the change in pressure over time is less than the change in a threshold rate over time. In some embodiments, the control system can determine that the tissue has stabilized after a threshold amount of time has elapsed after the end effector reaches the clamped state. In some embodiments, the control system can determine that the tissue has stabilized after a threshold amount of time has elapsed after the end effector reaches a partial clamped state.

[0219] At t3, the control system can detect the actuation of the firing system. In some embodiments, the control system detects the actuation of the firing system by detecting the firing trigger 1130 pivoting to the actuated position. In some embodiments, the control system detects the actuation of the firing system by detecting the power source 1090 supplying current or voltage to the motor 1082. Other embodiments of how the control system can detect the actuation of the firing system are described elsewhere herein. Upon detecting the actuation of the firing system, the control system can set the firing motion parameters of the firing system based on various factors measured by the control system from t0 to t3. In various embodiments, the firing motion parameters can be based on the elapsed time between t1 and t2, the elapsed time from t2 to t3, or a combination thereof.

[0220] In various embodiments, after setting the firing motion parameters of the firing system, the control system may utilize the firing system to drive a firing member through a firing stroke using the firing motion parameters. In some embodiments, the firing system may control a motor to drive the firing member through a firing stroke using the firing motion parameters. In one embodiment, the firing motion parameters include the current supplied to the motor. In one embodiment, the firing motion parameters include the voltage supplied to the motor. In one embodiment, the firing motion parameters include the duty cycle of the motor. In one embodiment, the firing motion parameters include the speed of the motor. In one embodiment, the firing motion parameters include the speed of the firing member. Other exemplary firing motion parameters are described elsewhere herein.

[0221] In various embodiments, during the firing stroke, the control system may dynamically adjust the firing motion parameters. In one aspect, the control system may continue to monitor the stability of the tissue and adjust the firing motion parameters as the tissue becomes more stable. In some embodiments, the control system dynamically adjusts the firing motion parameters based on the elapsed time from t1 to the current time point of the firing stroke. In some embodiments, the control system dynamically adjusts the firing motion parameters based on the elapsed time from t2 to the current time point of the firing stroke (i.e., the tissue stabilization time t s ). In some embodiments, the control system dynamically adjusts the firing motion parameters based on the elapsed time from t3 to the current time point of the firing stroke. In some embodiments, the control system dynamically adjusts the firing motion parameters based on the elapsed time from t1, t2, and t3 to the current time point of the firing stroke. Thus, as the tissue becomes more stable, the firing motion parameters are dynamically adjusted during the firing stroke.

[0222] Now referring Figure 21 , according to at least one aspect of the present disclosure, a method 18400 for controlling a surgical instrument is provided. Method 18400 includes detecting 18402 at a first time point that an end effector of the surgical instrument is moving toward a clamped state. In one embodiment, circuit board 1100 uses a position sensor to detect that end effector 1300 is moving toward a clamped state, and the position sensor can sense that closure trigger 1032 is moving toward an actuated position. In one embodiment, circuit board 1100 uses a Hall effect sensor to detect that end effector 1300 is moving toward a clamped state, and the Hall effect sensor can sense the movement of anvil 2000 relative to elongate channel 1310. In various embodiments, circuit board 1100 uses any number of sensors to detect that the end effector is moving toward a clamped state, and these sensors detect the positions of components associated with closure system 3000, such as the position of closure shuttle 1250, the position of closure link 1038, or the position of distal closure tube section 3030.

[0223] Method 18400 also includes detecting 18404 that the end effector has reached a clamped state at a second time point. In various embodiments, the control system may use various sensors described elsewhere herein to detect that the end effector has reached a clamped state.

[0224] Method 18400 also includes detecting 18406 the actuation of the firing system of the surgical instrument at a third time point. In one exemplary embodiment, when the firing trigger 1130 is pivoted to an actuated position, the circuit board 1100 detects the actuation of the firing drive system 1080. In one embodiment, when the circuit board 1100 detects current supplied from the power source 1090 to the motor 1082 via a current sensor, the actuation of the firing drive system 1080 is detected.

[0225] Method 18400 also includes setting 18408 the firing motion parameters of the firing system based on a first elapsed time from the first time point to the second time point and a second elapsed time from the second time point to the third time point. In various embodiments, the circuit board 1100 may use a timer to measure the length of the elapsed time that has occurred since the end effector began moving toward the clamped state, when it reaches the clamped state, and when the firing system is actuated. In some embodiments, the circuit board 1100 may retrieve the firing motion parameters from a look-up table stored in a memory (such as memory 1935) based on the length of the elapsed time. In some embodiments, the circuit board 1100 may retrieve a modification value from a graph or look-up table that can be used to adjust default firing motion parameters based on the length of the elapsed time. In one embodiment, the firing motion parameters may include the duty cycle of the motor 1082. In one embodiment, the firing motion parameters may include the speed of the motor 1082. In some embodiments, setting the firing motion parameters may include setting a plurality of firing motion parameters.

[0226] Method 18400 also includes driving 18410 the firing member through a firing stroke using the firing system with the firing motion parameters. In some embodiments, the circuit board 1100 may cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, which causes the firing member 1900 to deploy staples removably stored in the staple cartridge 1301.

[0227] Accordingly, the foregoing method 18400 provides the clinician with the freedom to choose how fast or slow they wish to transition the end effector to the clamping state and for how long to hold the end effector in the clamping state before actuating the firing system. In one aspect, the closing speed effectively acts as part of the clamping timing and, since tissue is viscoelastic, also acts as a tissue compression magnitude multiplier. Based on the amount of elapsed time, the control system will automatically select appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the ability of the control system to select the firing motion parameters without user input.

[0228] In various embodiments, the method 18400 optionally further includes dynamically adjusting 18412 the firing motion parameters during the firing stroke based on the elapsed time from a second time point to the current time point. In some embodiments, the circuit board 1100 may use a timer to measure the amount of elapsed time from when the end effector reaches the clamping state to the current time point during the firing stroke and dynamically adjust the firing motion parameters. Accordingly, the control system may dynamically adjust the firing motion parameters based on the length of elapsed time that the tissue has been clamped by the end effector and allowed to stabilize.

[0229] Now referring Figure 22 , according to at least one aspect of the present disclosure, a method 18450 for controlling a surgical instrument is provided. The method 18450 includes detecting 18452 movement of the end effector of the surgical instrument toward a clamping state. In one embodiment, the circuit board 1100 uses a position sensor to detect movement of the end effector 1300 toward the clamping state, the position sensor being capable of sensing movement of the closure trigger 1032 toward an actuated position. In one embodiment, the circuit board 1100 uses a Hall effect sensor to detect movement of the end effector 1300 toward the clamping state, the Hall effect sensor being capable of sensing movement of the anvil 2000 relative to the elongate channel 1310. In various embodiments, the circuit board 1100 uses any number of sensors to detect movement of the end effector toward the clamping state, the sensors detecting the position of components associated with the closure system 3000, such as the position of the closure shuttle 1250, the position of the closure link 1038, the position of the distal closure tube section 3030.

[0230] The method 18450 further includes detecting 18454 contact of the jaws of the end effector with tissue at a first time point when the end effector transitions toward the clamping state. In various embodiments, the control system may utilize a pressure sensor to detect initial contact of the anvil 2000 of the end effector 1300 with tissue. In some embodiments, the control system is capable of using various other sensors described elsewhere herein to detect initial contact of the anvil 2000 with tissue.

[0231] Method 18450 also includes detecting 18456 that the end effector has reached a clamped state at a second time point. In various embodiments, the control system may use various sensors described elsewhere herein to detect that the end effector has reached a clamped state.

[0232] Method 18450 also includes detecting 18458 the actuation of the firing system of the surgical instrument at a third time point. In one embodiment, when the firing trigger 1130 is pivoted to the actuated position, the circuit board 1100 detects the actuation of the firing drive system 1080. In one embodiment, when the circuit board 1100 detects the current supplied from the power source 1090 to the motor 1082 via the current sensor, the actuation of the firing drive system 1080 is detected.

[0233] Method 18450 also includes setting 18460 the firing motion parameters of the firing system based on a first elapsed time from the first time point to the second time point and from the second time point to the third time point. In various embodiments, the circuit board 1100 may use a timer to measure the length of the elapsed time that has occurred since the initial contact of the end effector with the tissue, reaching the clamped state, and the firing system being actuated. In some embodiments, the circuit board 1100 may retrieve the firing motion parameters from a look-up table stored in a memory (such as the memory 1935) based on the length of the elapsed time. In some embodiments, the circuit board 1100 may retrieve a modified value that can be used to adjust the default firing motion parameters from a graph or a look-up table based on the length of the elapsed time. In one embodiment, the firing motion parameters may include the duty cycle of the motor 1082. In one embodiment, the firing motion parameters may include the speed of the motor 1082. In some embodiments, setting the firing motion parameters may include setting a plurality of firing motion parameters.

[0234] Method 18450 also includes driving 18462 the firing member through a firing stroke using the firing system with the firing motion parameters. In some embodiments, the circuit board 1100 may cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through the firing stroke using the firing motion parameters, which causes the firing member 1900 to deploy staples removably stored in the staple cartridge 1301.

[0235] Thus, the foregoing method 18450 provides the clinician with the freedom to choose how long they wish to apply pressure to the tissue between when the end effector first applies pressure in a partial clamped state and when the end effector reaches the clamped state, before actuating the firing system. Based on the amount of elapsed time, the control system will automatically select appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the ability of the control system to select the firing motion parameters without user input.

[0236] In one aspect, a portion of the total clamping time includes a portion of the closing stroke, where the closing system is actuated sufficiently, such as beyond a partial clamping state, or clamped slowly and sufficiently to cause a creep effect. This will enable the surgeon to utilize known techniques of slow clamping or repeated clamping (repeating pressurization and decompression as they push the end effector into the clamping state). In this way, the user is encouraged to use the methods that have worked for them in the past, and the algorithm also takes this technology into account or further improves it. In various embodiments, feedback regarding the rate or magnitude of such slow or repeated clamping is provided to the user on a display, so that the user can achieve more repeatable results between patients.

[0237] In various embodiments, method 18450 optionally further includes dynamically adjusting 18464 firing motion parameters during the firing stroke based on the elapsed time from a second time point to the current time point. In some embodiments, circuit board 1100 can use a timer to measure the amount of elapsed time from when the end effector reaches the clamping state to the current time point during the firing stroke and dynamically adjust the firing motion parameters. Thus, the control system can dynamically adjust the firing motion parameters based on the length of the elapsed time that the tissue has been clamped by the end effector and allowed to stabilize.

[0238] In one aspect, the firing motion parameters of the firing system can be set according to the amount of compression applied to the tissue before the firing system is actuated. In one embodiment, for a pre-compression time of t1 (lower pre-compression threshold), the initial firing speed of the firing member can be a constant value, such as V1. In one embodiment, t1 includes 5 seconds and V1 includes 6 mm / second. For a pre-compression time between t1 and t2 (medium pre-compression threshold range), the initial firing speed can be a function expressed as follows:

[0239] Y = (A + B(t - C))

[0240] where Y is the initial firing speed, t is the pre-compression time, and A, B, and C are constants. In some embodiments, t2 includes 15 seconds, A is 6, B is 1.6, and C is 5, such that for example, at a pre-compression of 10 seconds, the initial firing speed is 14 mm / second. For a pre-compression time greater than t2 (higher compression threshold), the initial firing speed can be a constant value, such as V2. In some embodiments, V2 includes 22 mm / second. Thus, the firing motion parameters can vary according to the amount of pre-compression applied to the tissue before the firing system is actuated.

[0241] In various embodiments, the joint movement angle of the end effector, along with other parameters described above, such as clamping time, clamping speed, tissue pressure level, etc., are utilized to determine appropriate firing motion parameters for the firing system. See Figure 1, the interchangeable shaft assembly 1200 may define a shaft axis extending from its proximal end to its distal end. Additionally, the end effector 1300 may define an end effector axis extending from its proximal end to its distal end. In one aspect, when the end effector axis is aligned with the shaft axis, the end effector is considered to be in the "home position", as Figure 1 is visible. In some embodiments, a control system (such as circuit board 1100) may detect the angle of the end effector away from the home position when selecting the firing motion parameters of the firing system. In various embodiments, the control system may use various sensors, encoders, etc., described elsewhere herein to detect the joint motion angle. When the end effector undergoes joint motion, slowing down the speed and reducing the firing load may help to minimize the tip movement of the end effector and reduce stalling.

[0242] In various embodiments, for each joint motion angle of the end effector away from the home position, the firing motion parameters may be adjusted by a certain percentage. In one embodiment, for each joint motion angle, the firing motion parameters may be reduced by 1%. In one embodiment, for each joint motion angle, the firing motion parameters may be reduced by more than 1%. In some embodiments, the more the end effector undergoes joint motion away from the home position, the more the firing motion parameters may be adjusted, i.e., a non-linear variation.

[0243] In one aspect, compared to adjusting the firing motion parameters, the control system may require additional tissue clamping time before allowing actuation of the firing system. In some embodiments, the surgical instrument may include a lock that prevents actuation of the firing system until the required amount of clamping time determined by the control system based on the joint motion angle has elapsed. In one embodiment, when the end effector is in the home position, the control system may require a first clamping time amount t1 before enabling the firing system. In some embodiments, the first clamping time amount t1 includes a clamping time of 15 seconds. When the end effector undergoes joint motion of a first angle θ1 from the home position, the control system may require an additional clamping time amount t2 to be held in addition to the first clamping time amount t1 before enabling the firing system. In some embodiments, the first angle θ1 includes 45°, and the additional clamping time includes a clamping time of 5 seconds.

[0244] Now refer to Figure 23, according to at least one aspect of the present disclosure, a method 18500 for controlling a surgical instrument is provided. Method 18500 includes detecting 18502 at a first time point that the end effector of the surgical instrument has reached a clamped state. In one embodiment, the circuit board 1100 uses a position sensor to detect when the end effector 1300 has reached a clamped state, and the position sensor can sense when the closing trigger 1032 reaches the actuated position. In one embodiment, the circuit board 1100 uses a Hall effect sensor to detect when the end effector 1300 has reached a clamped state, and the Hall effect sensor can sense that the anvil 2000 is within a threshold distance from the elongate channel 1310. In various embodiments, the circuit board 1100 uses any number of sensors to detect when the end effector has reached a clamped state, and these sensors detect the positions of components associated with the closing system 3000, such as the position of the closing shuttle 1250, the position of the closing link 1038, or the position of the distal closing tube section 3030.

[0245] Method 18500 further includes detecting 18504 at a second time point the actuation of the firing system of the surgical instrument. In one embodiment, when the firing trigger 1130 pivots to the actuated position, the circuit board 1100 detects the actuation of the firing drive system 1080. In one embodiment, when the circuit board 1100 detects the current supplied from the power source 1090 to the motor 1082 via a current sensor, the actuation of the firing drive system 1080 is detected.

[0246] Method 18500 further includes detecting 18506 the actuation angle of the end effector. In one embodiment, the circuit board 1100 can detect the articulation angle of the end effector by using any number of sensors or encoders described elsewhere herein to detect the angle of the end effector relative to the elongate shaft.

[0247] Method 18500 further includes setting 18508 the firing motion parameters of the firing system based on a first elapsed time from the first time point to the second time point and the articulation motion. In various embodiments, the circuit board 1100 can use a timer to measure the length of the elapsed time that has occurred since the end effector first contacts the tissue and the firing system is actuated. In some embodiments, the circuit board 1100 can retrieve the firing motion parameters from a look-up table stored in a memory (such as memory 1935) based on the length of the elapsed time and the articulation angle. In some embodiments, the circuit board 1100 can retrieve a modified value from a graph or look-up table that can be used to adjust the default firing motion parameters based on the length of the elapsed time and the articulation angle. In one embodiment, the firing motion parameters can include the duty cycle of the motor 1082. In one embodiment, the firing motion parameters can include the speed of the motor 1082. In some embodiments, setting the firing motion parameters can include setting a plurality of firing motion parameters.

[0248] Method 18500 further includes using a firing system to drive a firing member 18510 through a firing stroke using firing motion parameters. In some embodiments, the circuit board 1100 may cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, which causes the firing member 1900 to deploy staples removably stored in the staple cartridge 1301.

[0249] Accordingly, the foregoing method 18500 provides a clinician with the freedom to choose how long they wish to apply pressure to the tissue in the clamped state and the angle at which they wish the end effector to be in before actuating the firing system. Based on the amount of time elapsed and the joint motion angle, the control system will automatically select appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the ability of the control system to select the firing motion parameters without user input.

[0250] In various embodiments, method 18500 optionally further includes dynamically adjusting 18512 the firing motion parameters during the firing stroke based on the elapsed time from a first time point to the current time point. In some embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed from when the end effector reaches the clamped state to the current time point during the firing stroke and dynamically adjust the firing motion parameters. Accordingly, the control system may dynamically adjust the firing motion parameters based on the length of time the tissue has been clamped by the end effector and allowed to stabilize.

[0251] Now referring Figure 24 , according to at least one aspect of the present disclosure, there is provided a method 18550 for controlling a surgical instrument. Method 18550 includes detecting 18502 at a first time point movement of the end effector of the surgical instrument toward a clamped state. In one embodiment, the circuit board 1100 uses a position sensor to detect movement of the end effector 1300 toward the clamped state, the position sensor being capable of sensing movement of the closure trigger 1032 toward an actuated position. In one embodiment, the circuit board 1100 uses a Hall effect sensor to detect movement of the end effector 1300 toward the clamped state, the Hall effect sensor being capable of sensing movement of the anvil 2000 relative to the elongate channel 1310. In various embodiments, the circuit board 1100 uses any number of sensors to detect movement of the end effector 1300 toward the clamped state, the sensors detecting the position of components associated with the closure system 3000, such as the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0252] Method 18550 also includes detecting 18554 a first parameter associated with the end effector moving towards the clamped state. In one embodiment, the first parameter includes the time taken to reach the clamped state. In one embodiment, the first parameter includes the time taken to reach a partially clamped state. In one embodiment, the first parameter includes the time taken to reach the clamped state from the partially clamped state. In one embodiment, the first parameter includes the rate at which the end effector transitions to the clamped state. In one embodiment, the first parameter includes the speed at which the end effector transitions to the clamped state. In one embodiment, the first parameter includes the amount of pressure applied to the tissue within the end effector as the end effector transitions to the clamped state. In one embodiment, the first parameter includes the elapsed time from when the end effector first applies pressure to the tissue until the end effector reaches the clamped state. In various embodiments, the first parameter includes any combination of the foregoing parameters or other parameters associated with the end effector transitioning to the clamped state, as described elsewhere herein.

[0253] Method 18550 also includes detecting 18556 the end effector reaching the clamped state. In various embodiments, the control system uses any number of sensors or encoders, as described elsewhere herein, to detect the end effector reaching the clamped state.

[0254] Method 18550 also includes detecting 18558 a second parameter associated with the end effector being in the clamped state. In one embodiment, the second parameter includes the elapsed time from when the end effector is in the clamped state until the firing system of the surgical instrument is actuated. In one embodiment, the second parameter includes the joint movement angle of the end effector. In one embodiment, the second parameter includes the rate of change of the pressure applied to the tissue within the end effector. In various embodiments, the second parameter includes any combination of the foregoing parameters or other parameters associated with the end effector being in the clamped state, as described elsewhere herein.

[0255] Method 18550 also includes detecting 18560 the actuation of the firing system of the surgical instrument. In one embodiment, when the firing trigger 1130 is pivoted to the actuated position, the circuit board 1100 detects the actuation of the firing drive system 1080. In one embodiment, when the circuit board 1100 detects the current supplied from the power source 1090 to the motor 1082 via the current sensor, the actuation of the firing drive system 1080 is detected.

[0256] Method 18550 further includes setting the firing motion parameters of the firing system 18552 based on the first parameter and the second parameter. In some embodiments, the circuit board 1100 may retrieve the firing motion parameters from a look-up table stored in a memory (such as memory 1935) according to the first parameter and the second parameter. In some embodiments, the circuit board 1100 may retrieve a modification value from a curve graph or a look-up table that can be used to adjust the default firing motion parameters according to the first parameter and the second parameter. In one embodiment, the firing motion parameters may include the duty cycle of the motor 1082. In one embodiment, the firing motion parameters may include the speed of the motor 1082. In some embodiments, setting the firing motion parameters may include setting a plurality of firing motion parameters.

[0257] Method 18550 further includes using the firing system to drive the firing member 18564 through a firing stroke using the firing motion parameters. In some embodiments, the circuit board 1100 may cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, which causes the firing member 1900 to deploy the staples removably stored in the staple cartridge 1301.

[0258] Accordingly, the foregoing method 18550 provides the clinician with the freedom to manipulate the end effector in a variety of ways of their choice prior to actuating the firing system. Based on the detected parameters, the control system will automatically select appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the ability of the control system to select the firing motion parameters without user input.

[0259] In various embodiments, method 18550 optionally further includes dynamically adjusting the firing motion parameters 18566 during the firing stroke based on the elapsed time from when the end effector reaches the clamping state to the current time point. In some embodiments, the circuit board 1100 may use a timer to measure the amount of elapsed time from when the end effector reaches the clamping state to the current time point during the firing stroke and dynamically adjust the firing motion parameters. Accordingly, the control system may dynamically adjust the firing motion parameters according to the length of the elapsed time during which the tissue has been clamped by the end effector and allowed to stabilize.

[0260] During a surgical procedure, a clinician may transition the end effector to a clamping state to capture tissue within the end effector. When clamped, fluid may flow out of the clamped tissue, thereby stabilizing the tissue in preparation for cutting and suturing. Additionally, a timer may be initiated such that appropriate firing motion parameters may be utilized when the firing system is actuated, as described elsewhere herein. However, prior to actuating the firing system, the clinician may decide that they wish to reposition the end effector to a new location on the tissue that is more suitable for cutting and suturing. To accomplish this, the clinician may transition the end effector out of the clamping state and re-clamp the tissue at the new location on the tissue.

[0261] In some cases, when the end effector is transitioned out of the clamping state, the timer may be reset such that when the end effector returns to the clamping state, the timer may be restarted as if the tissue was first clamped. However, in some cases, when the end effector is transitioned out of the clamping state by less than a threshold amount, the timer may be resumed as if the end effector was still in the clamping state. Thus, the firing motion parameters may be selected based not only on the elapsed time that the tissue has been held in the clamping state, but also on the time that the end effector has been transitioned out of the clamping state by less than the threshold amount. Accordingly, the control system may allow the clinician to modify the position of the end effector without losing the clamping time that had accumulated prior to repositioning the tissue.

[0262] Now refer to Figure 25 , in accordance with at least one aspect of the present disclosure, a graph 18600 is provided. The graph depicts the closing position of the end effector 18602 over time 18604. In some embodiments, the closing position may be a position of the closing trigger 1032 that is between the unactuated position and the actuated position.

[0263] At t0, the anvil 2000 is in the open state, which may correspond to the closing trigger being in the unactuated position. From t0 to t1, the anvil 2000 is moved toward the clamping state using the closing trigger 1032. At t1, the control system detects that the end effector has reached the clamping state, as described elsewhere herein, and initiates the timer.

[0264] At t1, the clinician decides that they wish to reposition the end effector to a new position more suitable for cutting and suturing. Thus, as can be seen after t1, the anvil 2000 moves from the clamped state towards the unclamped state. As the anvil 2000 moves from the unclamped state, the control system may keep the timer running until the control system detects that the anvil 2000 has moved a threshold amount 18606 away from the elongate channel 1310. In various embodiments, the threshold amount may be stored in a memory and retrieved by the control system. In various embodiments, the threshold amount may be user-defined and entered at an input interface. In various embodiments, the control system may use any number of sensors and the like described elsewhere herein to detect the position of the anvil 2000 relative to the elongate channel 1310. In various embodiments, the threshold amount 18606 may be the distance traveled from the elongate channel 1310 while the anvil 2000 still remains in contact with tissue positioned within the end effector. Thus, although leaving the clamped state, in a partial clamped state, the anvil 2000 still applies pressure to the tissue, causing fluid to flow out.

[0265] At t2, the control system detects that the anvil 2000 has moved a transition threshold amount away from the elongate channel 1310 and thus resets the timer. From t2 to t3, the clinician continues to move the anvil 2000 away from the elongate channel 1310. During the time period from t2 to t3, the timer does not run. At t3, the clinician begins to move the anvil 2000 back towards the clamped state. At t4, the anvil 2000 reaches the threshold amount from the elongate channel 1310, but the timer does not restart. However, various embodiments are contemplated in which the timer restarts when the anvil 2000 is within the threshold amount from the elongate channel 1310. Various other embodiments are contemplated in which the timer restarts when the anvil 2000 contacts tissue before reaching the clamped state.

[0266] At t5, the anvil 2000 returns to the clamped state and the timer restarts. At this time, the clinician may hold the end effector in the clamped state until they wish to actuate the firing system. When the firing system is actuated, the firing system only considers the second elapsed time rather than the first elapsed time because the end effector has moved a threshold amount from the clamped state.

[0267] Now refer to Figure 26, according to at least one aspect of the present disclosure, a method 18650 for controlling a surgical instrument is provided. The method 18650 includes detecting 18652 that the end effector of the surgical instrument has reached a clamped state. In one embodiment, the circuit board 1100 uses a position sensor to detect when the end effector 1300 has reached a clamped state, and the position sensor can sense when the closing trigger 1032 reaches the actuated position. In one embodiment, the circuit board 1100 uses a Hall effect sensor to detect when the end effector 1300 has reached a clamped state, and the Hall effect sensor can sense that the anvil 2000 is within a threshold distance from the elongate channel 1310. In various embodiments, the circuit board 1100 uses any number of sensors to detect when the end effector 1300 has reached a clamped state, and these sensors detect the positions of components associated with the closing system 3000, such as the position of the closing shuttle 1250, the position of the closing link 1038, or the position of the distal closing tube segment 3030.

[0268] The method 18650 further includes starting 18654 a timer based on the end effector reaching a clamped state. In some embodiments, the circuit board 1100 can measure the elapsed time that the end effector is in the clamped state until the control system detects the actuation of the firing system. In one embodiment, after starting the timer at 18654, the control system detects the actuation of the firing system. Thus, the method 18650 can set the firing motion parameters of the firing system based on the elapsed time, similar to that described for the method 18200.

[0269] The method 18650 further includes detecting 18656 a transition of the end effector from the clamped state. In some embodiments, the control system can use any suitable sensor described elsewhere herein to detect the transition of the end effector from the clamped state.

[0270] The method 18650 further includes determining 18658 whether the end effector has transitioned a threshold amount from the clamped state. In some embodiments, the control system determines whether the end effector has transitioned a threshold amount by comparing the distance between the anvil 2000 and the elongate channel 1310 with a threshold. In some embodiments, the control system determines whether the end effector has transitioned a threshold amount by comparing the distance that the closing trigger has traveled from the actuated position.

[0271] Based on the control system determining that the end effector has transitioned a threshold amount from the clamped state, the method 18650 proceeds to reset 18660 the timer. In some embodiments, resetting the timer includes resetting the timer back to zero. In some embodiments, resetting the timer can include setting the timer to a value different from zero.

[0272] Method 18650 also includes detecting that the end effector 18662 has returned to the clamped state. In some embodiments, the control system may use any number of sensors described elsewhere herein to detect the return of the end effector to the clamped state.

[0273] Method 18650 also includes restarting 18664 the timer based on the end effector returning to the clamped state. In some embodiments, the control system may restart the reset timer based on detecting that the end effector has returned to the clamped state, similar to that seen at Figure 25 t5.

[0274] After the timer is restarted 18664, the user may choose to again transition the end effector from the clamped state to reposition the end effector. Thus, the method may proceed again to detect 18656 the transition of the end effector from the clamped state, as described above. Additionally, after the timer is restarted, method 18650 also includes detecting 18666 the actuation of the firing system of the surgical instrument. In some embodiments, when the firing trigger 1130 is pivoted to the actuated position, the circuit board 1100 detects the actuation of the firing drive system 1080. In one embodiment, when the circuit board 1100 detects current supplied from the power source 1090 to the motor 1082 via a current sensor, the actuation of the firing drive system 1080 is detected.

[0275] Method 18650 also includes setting 18668 the firing motion parameters of the firing system based on the elapsed time from the restart of the timer to the actuation of the firing system. In various embodiments, the circuit board 1100 may query the timer to determine the length of the elapsed time that has occurred from the restart of the timer to when the firing system is actuated. In some embodiments, the circuit board 1100 may retrieve the firing motion parameters from a look-up table stored in a memory (such as memory 1935) based on the length of the elapsed time. In some embodiments, the circuit board 1100 may retrieve a modified value from a graph or look-up table that can be used to adjust the default firing motion parameters based on the length of the elapsed time. In one embodiment, the firing motion parameters may include the duty cycle of the motor 1082. In one embodiment, the firing motion parameters may include the speed of the motor 1082. In some embodiments, setting the firing motion parameters may include setting a plurality of firing motion parameters.

[0276] Method 18650 also includes driving 18678 the firing member through the firing stroke using the firing system with the firing motion parameters. In some embodiments, the circuit board 1100 may cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through the firing stroke using the firing motion parameters, which causes the firing member 1900 to deploy staples removably stored in the staple cartridge 1301.

[0277] In various embodiments, method 18650 optionally further includes dynamically adjusting 18680 firing motion parameters during a firing stroke based on the elapsed time from when the end effector reaches a clamped state to the current time point. In some embodiments, circuit board 1100 may use a timer to measure the amount of elapsed time from when the end effector reaches a clamped state to the current time point during the firing stroke and dynamically adjust the firing motion parameters. In some embodiments, the elapsed time is measured only after the end effector returns to the clamped state. In some embodiments, the elapsed time is measured starting from when the end effector initially reaches the clamped state. Thus, the control system may dynamically adjust the firing motion parameters based on the length of the elapsed time during which the tissue has been clamped by the end effector and allowed to stabilize.

[0278] Based on the control system determining that the end effector has not transitioned a threshold amount from the clamped state, method 18650 continues to hold 18670 the timer. In some embodiments, holding the timer includes allowing the timer to continue running and measuring the elapsed time from when the end effector reaches the clamped state.

[0279] Method 18650 further includes detecting 18672 the end effector returning to the clamped state. In some embodiments, the control system may use any number of sensors described elsewhere herein to detect the end effector returning to the clamped state.

[0280] After detecting 18672 the end effector returning to the clamped state, the user may choose to again transition the end effector from the clamped state to reposition the end effector. Thus, the method may proceed again to detect 18656 the end effector transitioning from the clamped state, as described above. Additionally, after detecting 18672 the end effector returning to the clamped state, method 18650 further includes detecting 18674 the actuation of the firing system of the surgical instrument. In some embodiments, when the firing trigger 1130 is pivoted to an actuated position, circuit board 1100 detects the actuation of the firing drive system 1080. In one embodiment, when circuit board 1100 detects current supplied from power source 1090 to motor 1082 via a current sensor, the actuation of the firing drive system 1080 is detected.

[0281] Method 18650 further includes setting the firing motion parameters of the firing system 18676 based on the elapsed time from the start of the timer to the actuation of the firing system. In various embodiments, the circuit board 1100 may query the timer to determine the length of the elapsed time that has occurred from the start of the timer to when the firing system is actuated. In some embodiments, the circuit board 1100 may retrieve the firing motion parameters from a look-up table stored in a memory (such as memory 1935) based on the length of the elapsed time. In some embodiments, the circuit board 1100 may retrieve a modification value from a graph or look-up table that can be used to adjust the default firing motion parameters based on the length of the elapsed time. In one embodiment, the firing motion parameters may include the duty cycle of the motor 1082. In one embodiment, the firing motion parameters may include the speed of the motor 1082. In some embodiments, setting the firing motion parameters may include setting a plurality of firing motion parameters. In various embodiments, setting the firing motion parameters may be based on various other parameters described elsewhere herein, such as joint motion angle, time since initial tissue contact, speed of movement towards the clamped state, or combinations thereof.

[0282] Similar to above, method 18650 includes driving the firing member 18678 through a firing stroke using the firing system with the firing motion parameters, and dynamically adjusting the firing motion parameters 18680 during the firing stroke based on the elapsed time from when the end effector reaches the clamped state to the current time point. In some embodiments, the elapsed time is measured only after the end effector returns to the clamped state. In some embodiments, the elapsed time is measured starting from when the end effector initially reaches the clamped state.

[0283] Accordingly, the foregoing method 18650 provides the clinician with the freedom to manipulate the end effector in a variety of ways of their choosing prior to actuating the firing system, while also allowing the end effector to transition from the clamped state without potentially losing the benefit of the cumulative clamping time that has been generated. Based on the detected parameters, the control system will automatically select appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the ability of the control system to select the firing motion parameters without user input.

[0284] The clamping system closed using position control suffers from operating in such a way that after the end effector has been placed in the clamped state, the closing stroke generates a specific force on the tissue captured within the end effector. As the tissue thins due to tissue creep, this specific force applied to the tissue decreases over time. For example, see Figure 27 and Figure 28, according to at least one aspect of the present disclosure, a response profile 4000 from a clamping system utilizing a position-controlled closure is provided. At t0, the end effector begins in an open state, during which the closing force 4002 applied by the end effector to the tissue is zero. From t0 to t1, the end effector transitions toward a clamped state via a closure member, which results in a gradual increase in the closing force 4002 applied to the tissue. At t1, the closure member reaches the end of its closing stroke, corresponding to the end effector reaching the clamped state. In the clamped state, the closing force 4002 reaches a maximum closing force FTC maxPC .

[0285] The problem with these clamping systems is that once they have completed their closing stroke, they do not have the ability to continue advancing their closure members, and thus the force applied to the tissue decreases over time as fluid flows out of the clamped tissue. For example, as seen in Figure 27 and Figure 28 , once the maximum closing force FTC maxPC is applied to the tissue at t1, the closing force 4002 gradually decreases over time due to tissue creep / tissue thinning. At t2, the firing system of the surgical instrument is actuated, resulting in a sharp decrease in the closing force 4002.

[0286] See Figure 27 , since the closing force 4002 decreases after reaching FTC maxPC , the force to fire 4004 the firing drive of the surgical instrument (such as the firing motor drive assembly 604) reaches a force FTF maxPC greater than FTC maxPC . This greater firing force places a significant amount of stress on the firing motor (such as the firing motor 602) of the firing drive.

[0287] Some attempts have been made to store energy in springs or other mechanical storage devices and then allow the clamping system to continue advancing, but these devices also decrease the force as the tissue thins, rather than decreasing the force suddenly. The preferred approach is to keep the load constant or even slightly "overload" the tissue during each adjustment to creep and bring the tissue to its thinnest stable state as quickly, evenly, and repeatably as possible. This preferred approach can result in better surgical outcomes and lower stress on the firing system.

[0288] In one aspect, the load control of the closure system causes the closure load and thus the clamping force to be maintained at an elevated level, thereby improving pre-firing compression of the tissue and ultimately resulting in a lower firing force. Maximize the viscoelastic creep of the tissue through the magnitude of the force, the duration of the force, and the rate at which the force is applied.

[0289] Now see Figures 29 to 31, provided in accordance with at least one aspect of the present disclosure is an end effector 4050 of a surgical instrument 4051. The end effector 4050 includes: an elongate channel 4052, which is similar in many respects to the elongate channel 1310; and an anvil 4054, which is similar in many respects to the anvil 2000 and is pivotally supported relative to the elongate channel 4052. The surgical instrument 4051 includes a closure loop 4056 that is axially movable relative to the end effector 4050 between a proximal position as shown in Figure 29 and a distal position as shown in Figure 30 . In various embodiments, the closure loop 4056 is part of a motor-driven closure system (such as the closure motor drive assembly 605) and is drivable by a motor (such as the closure motor 603) between the proximal position and the distal position. In various embodiments, the closure loop 4056 is part of a manually driven closure system (such as the closure system 3000) and is drivable between the proximal position and the distal position in response to a manual input (such as rotation of the closure trigger 1032 by a clinician).

[0290] The surgical instrument 4051 also includes an articulation joint 4060 that rotatably connects the end effector 4050 to the elongate shaft of the surgical instrument, thereby allowing the end effector 4050 to rotate relative to the elongate shaft to a plurality of articulation positions away from a central axis extending through the elongate shaft. The surgical instrument 4051 also includes a ridge 4062 configured to provide structural support to the surgical instrument 4051 and protect various internal components of the surgical instrument 4051.

[0291] In operation, the closure loop 4056 is driven by a closure system (such as a motor-driven closure system or a manually driven closure system) from the proximal position toward the distal position. As the closure loop 4056 is driven toward the distal position, the closure loop 4056 cam-engages a ramp 4058 formed at the proximal end of the anvil 4054, causing the anvil 4054 to cam toward a clamping state, as shown in Figure 30 , to grasp tissue by the end effector. In some embodiments, the closure loop 4056 is similar in manner to the distal closure tube section described in U.S. Patent No. 11,324,501, which is incorporated herein by reference in its entirety. In various embodiments, the end effector 4050 includes a spring that biases the anvil 4054 toward an open position when the closure loop 4056 moves toward the proximal position.

[0292] In some embodiments, the clamped state is defined as the state in which the end effector 1300 is in the closed configuration and the closing trigger 1032 is in the actuated position. In other embodiments, the clamped state is defined as the state in which the elongate channel 1310 of the end effector 1300 and the anvil 2000 are within a threshold distance of each other. In other embodiments, the clamped state is defined as the state in which the closing trigger 1032 has pivoted a threshold distance away from the unactuated position.

[0293] In other embodiments, the closing system moves the elongate channel towards the anvil to achieve the closed position. In other embodiments, the closing system moves the anvil and the elongate channel towards each other to achieve the closed position. The various embodiments described herein include closing systems having a movable anvil and a fixed elongate channel. However, it will be readily understood that such embodiments can be equivalently implemented using a movable elongate channel and a fixed anvil or using a movable elongate channel and a movable anvil.

[0294] Now referring Figure 32 , according to at least one aspect of the present disclosure, there is provided a graph 4100 illustrating the differences between a position control closing system and a load control closing system. The upper graph 4102 shows the positions of the respective closing members of each system over time, which will be discussed in more detail below. The lower graph 4104 shows the relationship over time between the closing loads applied by the respective end effectors.

[0295] For a position control closing system, the closing member moves between a first position and a second position, the first position corresponding to the end effector being in the open state and the second position corresponding to the end effector being in the clamped state. Referring to the upper graph 4102, at t0, the closing member begins in the first position FP corresponding to the end effector being in the open state. When the end effector is in the open state, no force is applied to the tissue captured within the end effector, as seen in the lower graph 4104.

[0296] As the closing member moves towards the second position SP represented by line 4106 PC , the end effector transitions towards the clamped state, resulting in an increase in the closing force applied by the end effector represented by line 4108. At t1, the closing member reaches the second position SP corresponding to the end effector being in the clamped state PC . As seen in the lower graph 4104, in the clamped state, the end effector applies a maximum closing force FTC to the tissue max .

[0297] As the closing member can no longer advance beyond the second position SP PC , due to tissue thinning and tissue creep, the force applied to the tissue begins to decrease. From t 2-3, the tissue force 4108 drops below the FTC max . At t3, the firing system is actuated, resulting in a further sharp decrease in the applied force.

[0298] As described above, using a load control closure system will cause the closure load and thus the clamping force to be maintained at an elevated level, thereby improving the pre-firing compression of the tissue. In various embodiments, the surgical instrument 4051 is used to provide such load control. In some embodiments, a control system (such as controller 620) can control the closure of the end effector 4050 with the closure loop 4056 based on the force sensed by a sensor (such as any suitable sensor described elsewhere herein, such as a force sensor or a current sensor), as detailed below. It should be understood that the control system can be any suitable control system described elsewhere herein, such as, for example, circuit board 1100 or controller 1933.

[0299] Referring to the upper graph 4102, at t0, the closure loop 4056 starts at the proximal position PP, corresponding to the end effector 4050 being in the open state, i.e., the anvil 4054 is spaced apart from the elongate channel 4052, as Figure 29 seen. When the end effector 4050 is in the open state, no force is applied to the tissue captured within the end effector 4050, as seen in the lower graph 4104.

[0300] As the closure loop 4056 moves towards the distal position DP represented by line 4110 LC , the end effector transitions towards the clamping state, resulting in an increase in the closing force applied by the end effector represented by line 4112. It should be understood that, as seen in graph 4100, line 4106 overlaps with line 4110 and line 4108 overlaps with line 4112, and thus is represented as a single line for simplicity. At t1, the closure loop 4056 reaches the intermediate position IP LC between the proximal position PP and the distal position DP LC , which corresponds to the end effector 4050 being in a partially clamped state. As seen in the lower graph 4104, in the partially clamped state, the end effector 4050 applies the maximum closing force FTC max to the tissue. It should be understood that further advancement of the closure loop 4056 will result in an FTC max greater than the FTC represented in the lower graph 4104.

[0301] In one aspect, a partial clamping state is defined as a state intermediate between the open state and the clamping state in which the end effector makes initial contact with tissue positioned therein. In one aspect, a partial clamping state is defined as a state in which the anvil of the end effector is within a threshold distance of the elongate channel of the end effector. In one aspect, a partial clamping state is defined as a state in which the closure trigger has moved a threshold amount from an unactuated state toward an actuated state. In one aspect, a partial clamping state is defined as a state in which the firing member responsible for closure of the end effector has moved a threshold linear distance.

[0302] At the intermediate position IP LC , the control system stops the advancement of the closure loop 4056. In various embodiments, the intermediate position IP LC corresponds to a position that is a threshold distance from the proximal position PP. In various embodiments, the intermediate position IP LC corresponds to a position at which a threshold amount of force is applied to the tissue. In some embodiments, the threshold amount of force is stored in a memory (such as memory 1935) and retrievable by the control system. In some embodiments, the threshold amount of force is provided by the user at an input interface. In some embodiments, the intermediate position IP LC corresponds to a predetermined distance up the ramp 4058 of the anvil 4054.

[0303] In the partial clamping state, the control system monitors the force applied by the anvil 4054 by interrogating a sensor or receiving a signal from a sensor. In various embodiments, the sensor includes a force sensor positioned at the end effector to directly measure the force applied to the tissue. In various embodiments, the sensor includes a current sensor that measures the amount of current supplied to the closure motor to determine the closing force.

[0304] After a certain event occurs, the control system controls the closure system to resume the advancement of the closure loop 4056 toward the distal position DP LC . In various embodiments, the event includes a threshold amount of time having elapsed since the closure loop 4056 stopped. In various embodiments, the event includes the control system detecting a decrease in the force applied by the anvil 4054. In various embodiments, the event includes the control system detecting a decrease in the force applied by the anvil 4054 from the maximum closing force FTC max by a threshold amount.

[0305] As seen in upper graph 4102 and lower graph 4104, the control system continuously monitors the force applied by the end effector 4050 and discretely advances 4110 the closure loop 4056. Specifically, as seen at times t2, t3, t4, and t5 in upper graph 4102, the control system discretely advances the closure loop such that the closing force 4112 applied by the end effector remains constant or at least substantially constant. In one embodiment, the control system drives 4110 the closure loop 4056 at t2 such that the force 4112 remains at FTC max . Once FTC max is reached, the control system causes the closure loop 4056 to stop advancing again, and the control system monitors for some event again as described above to resume advancing the closure loop 4056 at t3, such as when some event occurs. In various other embodiments, rather than discretely advancing the closure loop, the control system continuously moves the closure loop 4056 at a rate that causes the force 4112 applied by the end effector to remain constant or at least substantially constant.

[0306] The control system continues the above-described stopping and advancing of the closure loop 4056 until the closure loop 4056 reaches the distal position DP LC , as shown in upper graph 4102 at t6. Once at the distal position DP LC at t6, the user can actuate the firing system (such as firing motor drive assembly 604) to drive a firing member (such as firing member 1900) with a motor (such as firing motor 602) to cut and deploy staples from a staple cartridge (such as staple cartridge 1301) positioned in the end effector 4050. In various embodiments, the control system can provide tactile feedback, visual feedback, auditory feedback, or any other suitable feedback to inform the clinician that the closure loop 4056 has reached the distal position DP LC . In various embodiments, once the closure loop 4056 reaches the distal position DP LC , the user can wait for a certain amount of time before actuating the firing system to give the end effector 4050 the opportunity to apply additional force to the tissue. In various other embodiments, the control system can require a threshold amount of time to elapse before enabling the firing system. In some embodiments, once the threshold amount of time has elapsed, the control system can provide tactile feedback, auditory feedback, or visual feedback to inform the clinician that the firing system can be actuated.

[0307] Now refer to Figure 33 and Figure 34, providing a response distribution 4200 from a clamping system that utilizes a closed loop 4056 and a load control closure. At t0, an end effector (such as end effector 4050) starts in an open state, during which the closing force 4202 applied by the end effector to the tissue is zero. From t0 to t1, the end effector transitions toward a clamping state via a closure member (such as closed loop 4056), which causes the closing force 4202 to gradually increase. At t1, the closure member reaches an intermediate closing stroke position corresponding to the end effector reaching a partial clamping state, such as intermediate position IP LC . In the partial clamping state, the closing force 4202 reaches a maximum closing force FTC max .

[0308] As Figure 33 and Figure 34 seen in maxLC and as described above, once the maximum force FTC maxLC is applied to the tissue at t1, the closure member can be advanced discretely or continuously such that the maximum force FTC LC is maintained or at least substantially maintained. At t2, the closure member reaches its distal position, such as distal position DP Figure 34 , and the firing system is actuated. As maxLC seen in max , the force to fire the firing drive of the firing 4204 surgical instrument reaches a force FTF maxPC , which is less than FTC Figure 27 and less than the firing force FTF for a position control closure system

[0309] as described above and as

[0310] shown in Figure 32 . Thus, the load control closure system reduces the firing force required for the firing system, which can extend the life of the firing system. The load control closure system brings the tissue to its thinnest stable state as quickly, uniformly, and repeatably as possible and results in better surgical outcomes Figure 29As seen. When the end effector 4050 is in the open state, no force is applied to the tissue captured within the end effector 4050, as seen in the following graph 4104.

[0311] As the closure loop 4056 moves towards the distal position DP represented by line 4114 CC the end effector transitions towards the clamping state, resulting in an increase in the closing force applied by the end effector represented by line 4116. It should be understood that, as seen in graph 4100, line 4114 overlaps with lines 4110, 4106 and line 4116 overlaps with lines 4112, 4108 and is thus represented as a single line for simplicity. At t1, the closure loop 4056 reaches the intermediate position IP CC between the proximal position PP and the distal position DP CC which corresponds to the end effector 4050 being in a partial clamping state. As seen in the following graph 4104, in the partial clamping state, the end effector 4050 applies the maximum closing force FTC max to the tissue. It should be understood that further advancement of the closure loop 4056 will result in FTC max being greater than the FTC represented in the following graph 4104.

[0312] At the intermediate position IP CC the control system stops the advancement of the closure loop 4056. In various embodiments, the intermediate position IP CC corresponds to a position that is a threshold distance from the proximal position PP. In various embodiments, the intermediate position IP CC corresponds to a position where a threshold amount of force is applied to the tissue. In some embodiments, the threshold amount of force is stored in a memory (such as memory 1935) and can be retrieved by the control system. In some embodiments, the threshold amount of force is stored in a look-up table in the memory or is a value that can be retrieved from the memory. In some embodiments, the threshold amount of force is provided by the user at an input interface. In some embodiments, the intermediate position IP CC corresponds to a predetermined distance up the ramp 4058 of the anvil 4054.

[0313] In the partial clamping state, the control system monitors the force applied by the anvil 4054 by interrogating a sensor or receiving a signal from the sensor. In various embodiments, the sensor includes a force sensor positioned at one or more parts of the closure system and / or the end effector for measuring the force applied by the end effector to the tissue. In various embodiments, the sensor includes a current sensor that measures the amount of current supplied to the closure motor to determine the closing force.

[0314] After an event or condition occurs, as described above, the control system controls the closure system to restore the closure loop 4056 toward the distal position DP CC propulsion. In various embodiments, the event includes a threshold amount of time elapsed since the closure loop 4056 stopped. In various embodiments, the event includes the control system detecting a decrease in the force applied by the anvil 4054. In various embodiments, the event includes the control system detecting a decrease in the force applied by the anvil 4054 from the maximum closing force FTC max by a threshold amount.

[0315] As seen in the upper graph 4102 and the lower graph 4104, the control system continuously monitors the force applied by the end effector 4050 and discretely advances 4114 the closure loop 4056. Specifically, as seen at time t2 to t 10 in the upper graph 4102, the control system discretely advances the closure loop such that the closing force 4116 applied by the end effector remains constant or at least substantially constant. It should be understood that between time t2 and t7, line 4114 overlaps line 4110 and line 4116 overlaps line 4112, and thus is represented as a single line for simplicity.

[0316] In one embodiment, the control system drives 4114 the closure loop 4056 at t2 such that the force 4116 remains at FTC max . Once FTC max is reached, the control system stops advancing the closure loop 4056 again, and the control system monitors for an event again as described above to continue advancing the closure loop 4056 again at t3, such as when an event occurs. In various other embodiments, rather than discretely advancing the closure loop, the control system continuously moves the closure loop at a rate that causes the force 4112 applied by the end effector to remain constant or at least substantially constant.

[0317] The control system continues the above-described stopping and advancing of the closure loop 4056 until the firing system is actuated at t6, which is the time before the closure loop reaches its distal position DP CC . Once the firing system has been actuated, the control system continues to advance the closure loop 4056 toward the distal position DP CC as described above such that the closure system and the firing member of the firing system operate simultaneously. The continued advancement of the closure loop will maintain the force 4116 applied by the end effector at FTC max during at least a portion of the firing stroke.

[0318] Now refer to Figure 35 and Figure 36, according to at least one aspect of the present disclosure, a response distribution 4300 from a clamping system is provided, such a clamping system utilizing a closed loop 4056 and a load control closure during a portion of a firing stroke. At t0, an end effector (such as end effector 4050) begins in an open state, during which the closing force 4302 applied by the end effector to the tissue is zero. From t0 to t1, the end effector transitions toward a clamped state via a closing member (such as closed loop 4056), which results in a gradual increase in the closing force 4302. At t1, the closing member reaches an intermediate closing stroke position corresponding to the end effector reaching a partially clamped state, such as intermediate position IP CC . In the partially clamped state, the closing force 4302 reaches a maximum closing force FTC max .

[0319] As Figure 35 and Figure 36 seen in maxCC and as described above, once the maximum force FTC maxCC is applied to the tissue at t1, the closing member can be advanced discretely or continuously such that the maximum force FTC CC is maintained. At t2, the firing system is actuated. As Figure 35 and Figure 36 shown, the closing member continues to advance toward its distal position (such as DP maxCC ) to maintain the maximum closing force FTC on the tissue during at least a portion of the firing stroke Figure 36 . As Figure 27 seen in maxCC , the force of the firing drive of the firing 4304 surgical instrument reaches a force FTF maxCC , which is less than FTC maxPC , and less than the firing force FTF for a position control closing system

[0320] as described above and as Figure 37 shown. In various embodiments, the continued advancement of the closing member during at least a portion of the firing stroke can also result in a force firing distribution that is different from the force firing distribution for a load control closing system in which the closing member reaches its distal position before the firing system is actuated. Accordingly, the load control closing system reduces the firing force required of the firing system, which can extend the life of the firing system. The load control closing system gets the tissue to its thinnest stable state as quickly, evenly, and repeatably as possible and results in better surgical outcomes.

[0320] Now refer to Figure 37, according to at least one aspect of the present disclosure, a method 4350 for controlling a surgical instrument is provided. The method 4350 includes driving 4352 a closure member of a closure system from a first position toward a second position to transition an end effector toward a clamped state. In some embodiments, a control system (such as controller 620) can control a motor (such as closure motor 603) of a motor-powered closure system (such as closure motor drive assembly 605) to move from a first position (such as a proximal position PP) toward a second position (such as an intermediate position IP LC or an intermediate position IP CC ) to drive a closure member (such as closure loop 4056). Driving the closure member can cause the end effector (such as end effector 4050) to transition toward a clamped state to capture tissue within the end effector and apply a force thereto.

[0321] The method 4350 further includes detecting 4354 a closure load applied to the tissue by the end effector based on the closure member being in the second position. In various embodiments, with the control system member in the second position, the control system uses a force sensor or a current sensor to detect the force applied by the end effector. In some embodiments, the closure force can be the maximum closure force applied to the tissue, as described elsewhere herein.

[0322] The method 4350 further includes driving 4356 the closure member from the second position toward a third position to maintain the closure load on the tissue. In various embodiments, as described elsewhere herein, the control system can control the closure system to move the closure member (such as closure loop 4056) discretely or continuously to maintain a constant or at least substantially constant closure load on the tissue.

[0323] The method 4350 further includes driving 4358 a firing member through a firing stroke using a firing system based on the closure member reaching the third position. In various embodiments, as described elsewhere herein, the control system can control a motor (such as firing motor 602) of a firing system (such as firing motor drive assembly 604) to drive a firing member (such as firing member 1900) through a firing stroke. In some embodiments, driving the firing member enables deployment of staples from a staple cartridge (such as staple cartridge 1301). In various embodiments, the third position of the closure member includes a distal position of the closure member, such as DP LC . In various embodiments, the third position of the closure member includes a position proximal to its distal position, such as distal position DP CC .

[0324] Method 4350 optionally further includes driving 4360 the closure member from a third position toward a fourth position to maintain a closure load on tissue during at least a portion of the firing stroke. In various embodiments, as described above, when the firing system is actuated, the closure member may be in a position proximal to its distal position, such as distal position DP. CC . Accordingly, the control system may continue to control the closure system to discretely or continuously advance the closure member during at least a portion of the firing stroke to maintain the closure load constant or at least substantially constant. In various embodiments, the fourth position corresponds to distal position DP. CC In various embodiments, the fourth position corresponds to a position proximal to distal position DP. CC In various embodiments, the closure member moves during the entire firing stroke. In some embodiments, the closure member and the firing member complete their respective strokes simultaneously or at least substantially simultaneously. In various embodiments, the closure member completes its closure stroke before the firing member completes its firing stroke. In various embodiments, the firing member completes its firing stroke before the closure member completes its closure stroke.

[0325] During the closure stroke of the surgical instrument, it is desirable for all tissue layers to be captured within the jaws of the end effector such that all tissue layers are captured within the staple line for any given transection. During closure of the end effector, excessive clamping speed can cause tissue layers to be pushed out of the end effector, ultimately resulting in a suboptimal staple line seal. This tissue flow during clamping can also cause the desired transection position on the tissue to shift within the end effector, such as pushing the tissue out of the distal tip of the end effector, ultimately resulting in the need to fire the surgical instrument again. Managing this clamping speed can help maintain the desired transection position of the tissue within the end effector.

[0326] In various embodiments, a surgical instrument including an end effector and a clamping system (such as closure motor drive assembly 605) may be used to clamp tissue during the clamping stroke. A sensor (such as any suitable sensor described elsewhere herein) may be used to monitor the amount of clamping force applied by the end effector during the clamping stroke. During the clamping process, a control system (such as controller 620) coupled to the sensor may monitor the load profile, predict the expected tissue load, and compare the predicted tissue load to a closure load threshold.

[0327] In some embodiments, if the predicted load is expected to reach or exceed a closure load threshold, the control system slows the closure speed of the closure system, thereby allowing the tissue to relax during clamping and maintaining the desired tissue in the jaws of the end effector. In various embodiments, the closure load threshold is stored in a memory (such as memory 624) and retrievable by the control system. In various embodiments, the closure load threshold is a load defined by the user at an input interface.

[0328] In some embodiments, if the predicted load is expected to reach or exceed a closure load threshold, the control system intermittently pauses the clamping stroke of the closure system, thereby allowing the tissue to relax during clamping and maintaining the desired tissue in the jaws of the end effector. In various embodiments, if the predicted load is expected to reach or exceed a closure load threshold, the control system intermittently pauses and slows the clamping stroke of the closure system, thereby allowing the tissue to relax during clamping and maintaining the desired tissue in the jaws of the end effector.

[0329] In some embodiments, when the control system causes the end effector to pause its clamping stroke, the control system maintains the clamping force of the jaws for a period of time. In various embodiments, the period of time is a predetermined period of time. In various embodiments, the period of time is a variable period of time. In some embodiments, the variable period of time is based on the rate of change of the clamping load. In some embodiments, the variable period of time is based on a predicted amount by which the closure load is expected to exceed the closure load threshold, such as at the completion of the closure stroke. In various embodiments, the variable period of time is based on the gap between the anvil and the elongate channel of the end effector. In various embodiments, the variable period of time is based on the type of staple cartridge removably positioned in the end effector. In various embodiments, the variable period of time is based on the magnitude of the closure load. In various embodiments, the variable period of time is based on the amount of time elapsed since the end effector first contacted the tissue during the clamping stroke. In various embodiments, the variable period of time is based on the time elapsed since the user actuated the assisted closure system of the surgical instrument.

[0330] In various embodiments, the time period is an adaptive time period. In various embodiments, the adaptive time period is based on the position of the anvil relative to the elongate channel. In various embodiments, the adaptive time period is based on the success and failure of previous clamping strokes. In some embodiments, the success and failure of previous clamping strokes are stored in a memory (such as memory 624) and retrievable by the control system to set a variable time period. In various embodiments, the adaptive time period is based on the technique used by the clinician for manual operation or positioning of the end effector. In various embodiments, the adaptive time period is based on the output from a surgical hub, such as the surgical hub described in U.S. Patent Application Publication 2020 / 0078070, which is incorporated herein by reference in its entirety. In various embodiments, the adaptive time period is based on the output from a multispectral imaging system, such as the imaging system described in U.S. Patent 11,369,366, which is incorporated herein by reference in its entirety.

[0331] Once a predetermined time period has elapsed, the control system may cause the end effector to reattempt its clamping stroke at a speed that manages tissue flow. In various other embodiments, the speed is a set speed. In various embodiments, the speed is a step speed. In various embodiments, the speed is a reduced speed compared to the speed before the end effector paused its clamping stroke. In various embodiments, the speed is the same speed as before the end effector paused its clamping stroke.

[0332] Now referring Figure 38 , according to at least one aspect of the present disclosure, a method 4370 for controlling a surgical instrument is provided. Method 4370 includes driving 4372 the end effector toward a clamped state using a motor. In various embodiments, a control system (such as controller 620) transmits a control signal to the motor (such as closure motor 603) to cause a closure system (such as closure motor drive assembly 605) to drive the end effector (such as end effector 1300) toward a clamped state.

[0333] Method 4370 further includes detecting 4374 a closure load applied by the end effector to tissue based on movement of the end effector toward a clamped state. In various embodiments, the control system uses a sensor (such as any suitable sensor described elsewhere herein) to detect the closure load applied by the end effector to tissue. In some embodiments, the sensor includes a force sensor that detects the amount of force applied by the end effector to tissue. In some embodiments, the sensor includes a current sensor that senses the amount of current applied to the motor.

[0334] Method 4370 also includes predicting 4376 an expected closing load based on the detected closing load. In various embodiments, the control system may predict the expected closing load based on the rate of change of the closing load. In various embodiments, the control system may predict the expected closing load based on the trajectory of the closing load. In various embodiments, the control system may predict the expected closing load based on various sensor readings obtained from sensors.

[0335] Method 4370 also includes comparing 4378 the predicted closing load to a closing load threshold. In some embodiments, the control system may compare the predicted closing load to the closing load threshold to determine if the predicted closing load will reach or exceed the closing load threshold. In various embodiments, the control system may determine if the predicted closing load will reach or exceed the closing load threshold before the end effector reaches a clamping state. In various embodiments, the closing load threshold is stored in a memory (such as memory 624) and may be retrieved by the control system. In various embodiments, the closing load threshold is a load defined by a user at an input interface.

[0336] Method 4370 also includes controlling 4380 the motor based on the comparison. In various embodiments, based on the result of the comparison, the control system may transmit a control signal to the motor. In some embodiments, if the predicted closing load is expected to reach or exceed the closing load threshold before the closing stroke is completed, the control system transmits a control signal to the motor. In some embodiments, if the predicted closing load is expected to reach or exceed the closing load threshold before the anvil reaches a threshold distance from the elongate channel, the control system transmits a control signal to the motor. In some embodiments, the control signal reduces the speed of the motor, thereby slowing the rate at which the end effector transitions to the clamping state. In some embodiments, the control signal pauses the motor, thereby causing the end effector to stop transitioning to the clamping state. In various embodiments, if the predicted closing load is expected to reach or exceed the closing load threshold, the control system may allow the end effector to continue applying a load to the tissue. In such embodiments, the control system may predict the time at which the closing load threshold will be exceeded and thus control the motor at the predicted time. Thus, the control system predicts and plans when the closing load threshold will be reached or exceeded rather than reacting when the control system detects that the closing load threshold has been exceeded. This planning and prediction allows the control system to design an appropriate response before the closing load threshold is reached or exceeded.

[0337] In various embodiments, the speed of the motor is reduced based on the control system, which continues to predict the expected closing load and compares the predicted closing load with a closing load threshold as the end effector transitions to the clamping state. If the control system again detects that the predicted closing load is expected to reach or exceed the closing load threshold before the end effector reaches the clamping state, the control system further reduces the speed of the motor such that the predicted closing load remains below the closing load threshold. In various other embodiments, the control system pauses the motor and resumes the movement of the end effector towards the clamping state after a period of time. Thus, method 4370 is an iterative method of holding tissue within the end effector.

[0338] Method 4370 also includes holding 4382 the end effector in its current position for a period of time. In various embodiments, when the control system transmits a control signal to the motor to stop the transition of the end effector towards the clamping state, the control system holds the jaws of the end effector in their current position for a period of time. In various embodiments, the period of time includes a predetermined period of time. In various embodiments, the period of time includes a variable period of time, as described elsewhere herein. In various embodiments, the period of time includes an adaptive period of time, as described elsewhere herein.

[0339] Method 4370 also includes resuming 4384 the advancement of the end effector towards the clamping state based on the elapsed period of time. In various embodiments, after the period of time has elapsed, the control system uses the closing drive system to resume the advancement of the motor of the end effector towards the clamping state.

[0340] In various embodiments, similar to above, after the control system resumes the advancement of the end effector towards the clamping state, the control system continues to predict the expected closing load and compares the predicted closing load with a closing load threshold as the end effector transitions to the clamping state. If the control system again detects that the predicted closing load is expected to reach or exceed the closing load threshold before the end effector reaches the clamping state, the control system again stops the transition of the end effector towards the clamping state and waits for a period of time. In various other embodiments, the control system slows the motor and resumes the movement of the end effector towards the clamping state in cases where the control system has paused. Thus, method 4370 is an iterative method of holding tissue within the end effector.

[0341] Now refer to Figure 39 , according to at least one aspect of the present disclosure, a graph 4500 is provided that illustrates the target and response distribution of the motor. Graph 4500 shows the relationship between a control metric and the position of the closing member, as will be detailed below. In some embodiments, the control metric includes the speed of the motor. In some embodiments, the control metric includes the PWM of the motor.

[0342] In operation, a control system, such as controller 620, sets a target control metric of a motor, such as any number of motors described elsewhere herein, to drive a function of a surgical instrument. In various embodiments, the motor includes a firing motor, such as firing motor 602, which drives a firing member, such as firing member 1900, through a firing stroke. In various embodiments, the motor includes a closure motor, such as closure motor 603, which drives a closure member, such as closure loop 4056, through a closure stroke.

[0343] As Figure 39 shown, at a position d0 of the firing member, such as its non-firing position, the control system sets a first target control metric 4502 of the motor. In response to the first target control metric 4502, the motor ramps up 4504 towards the first target control metric 4502 and eventually reaches a first response control metric 4506 that is less than the first target control metric 4502 at a position d1 of the firing stroke of the firing member. The control system maintains the first target control metric 4502 of the motor until the firing member reaches d2 of the firing stroke, at which point the control system sets a second target control metric 4508 of the motor. In response to the second target control metric 4508, the motor ramps up 4510 towards the second target control metric 4508 and eventually reaches a second response control metric 4512 that is less than the second target control metric 4508 at a position d3 of the firing stroke of the firing member.

[0344] Due to various external factors, such as frictional losses of the system and / or thick tissue positioned within the end effector of the surgical instrument, the response control metric of the firing member gradually drops 4514, although the control system maintains the second target control metric 4508. In response to the downward sloping response profile, to optimize the system and not drive the motor with a target control metric that it cannot achieve, the control system sets reduced target control metrics 4516, 4518 at positions d4 and d5 of the firing stroke, respectively. The reduction of the target control metric prevents the motor from overworking. Thus, the control system dynamically adjusts the target control metric to a more appropriate target control metric based on the response profile of the motor.

[0345] During the foregoing setting of the target distribution to drive the motor, the control system may utilize any number of sensors to determine the actual response distribution of the motor. In some embodiments, an analog signal indicative of the response distribution may be fed back to a processor (such as processor 622) of the control system in order to effectuate the necessary adjustment to the target control metric. When the analog signal is received, the processor uses an integrating A / D converter to convert the analog signal into a digital signal such that the processor may process the signal indicative of the response distribution. In one aspect, a servo motor controlled by the processor must utilize digital signals and will not be able to use analog signals. However, these A / D conversions within the processor consume computational cycles and resources that the processor could otherwise deploy elsewhere, thus limiting the speed of the processor's operation. Accordingly, it is desirable to feed digital signals into the processor to allow the processor to focus its resources on other tasks.

[0346] In various embodiments, the A / D converter is placed upstream of the processor, such as prior to the input of the processor. The upstream A / D converter receives any number of analog signals from the sensors via the surgical instrument and converts these signals into digital signals. These digital signals are fed into the processor, thereby allowing the processor to effectuate the necessary adjustment without having to allocate bandwidth to perform the A / D conversion itself.

[0347] In some embodiments, the input signal to the A / D converter includes a ramp-up analog signal 4520, such as Figure 40 shown. In various embodiments, the A / D converter converts the analog signal 4520 into a PWM digital signal 4522 based on the peaks 4524 and valleys 4526 of the output signal 4521 of the analog signal 4520 reaching the limits 4525, 4527 that constrain the output signal 4521. As Figure 40 shown, the input signal to the A / D converter transitions low when the peak 4524 reaches the upper limit 4525 and transitions high when the valley 4526 reaches the lower limit 4527. Additionally, the length of the PWM signal is controlled based on the elapsed time between the peak 4524 and the valley 4526.

[0348] In various embodiments, the analog signal fed to the A / D converter includes an analog speed signal. In some embodiments, the analog speed signal indicates the speed of the motor. The A / D converter converts the signal into a digital signal and feeds the converted signal to the processor. In various embodiments, the analog speed signal can be generated using a 1-wire tach speed sensing. In some embodiments, the 1-wire tach speed sensor measures the speed of the shaft of the motor. In various embodiments, the analog speed signal is generated by using a rheostat that can monitor voltage spikes applied to the motor. In various embodiments, the analog speed signal is generated using a PWM angle-based sensor that determines the rate of change of the motor speed. In various embodiments, the analog speed signal is generated using the raw signal from a sensor having a comparator circuit that can be used to determine the motor speed.

[0349] In various embodiments, a drag slip sensor is placed in one or both of an anvil (such as anvil 2000) and an elongate channel (such as elongate channel 1310) of an end effector (such as end effector 1300) to determine the relative and / or absolute position of a firing member (such as firing member 1900) during a firing stroke. Based on the sensed position and a timer, an analog signal indicative of the speed of the firing member can be generated and fed to the A / D converter. In various embodiments, the drag slip sensor determines the rate of change of drag to generate a signal indicative of the speed of the firing member. In some embodiments, a slope detector is utilized to determine the rate of change. In some embodiments, a differential amplifier is utilized to determine the rate of change.

[0350] In various embodiments, the analog signal indicative of the motor speed is generated based on a change in the sound emitted from the motor. In some embodiments, the sound change is detected by a microphone. In some embodiments, the sound change is detected by a sound card. In some embodiments, the sound change is generated and / or amplified by placing a component such as a card in the motor assembly. In various embodiments, the analog signal indicative of the motor speed is generated using a gated speed sensor.

[0351] As described elsewhere herein, a closure system may utilize a motor to drive an end effector of a surgical instrument to a clamped state to capture tissue within the end effector. As the actuator transitions to the clamped state, the anvil of the end effector contacts the tissue. The resulting impact may slow the motor output and, in some cases, even cause the motor to stall. On the other hand, a firing system may utilize a motor to drive a firing member of a surgical instrument through a firing stroke to cut tissue captured within the end effector and deploy staples from a staple cartridge positioned within the end effector. Similarly, the impact of the firing member on the tissue and staple driver may cause the motor output to slow and potentially stall. In such a scenario, higher torque from the motor is required, which will cause a standard motor to stall. Accordingly, it is desirable to add inertia to the motor to compensate for the losses associated with the high torque requirements. Additionally, it is desirable to add inertia to the motor to compensate for losses associated with a 25% motor speed loss.

[0352] Now referring to Figure 41 , in accordance with at least one aspect of the present disclosure, a motor 4400 is provided. The motor 4400 includes a housing 4402, an output shaft 4404, a first contact 4406, and a second contact 4408. In various embodiments, a first wire from a power source is coupled to the first contact 4406 and a second wire from the power source is coupled to the second contact 4408. In one aspect, to rotate the output shaft 4404 in a first clockwise direction, a positive polarity is provided to the first contact 4406 from the power source and a negative polarity is provided to the second contact 4408. To rotate the output shaft 4404 in a second counterclockwise direction, a negative polarity is provided to the first contact 4406 from the power source and a positive polarity is provided to the second contact 4408.

[0353] As Figure 41As seen, output shaft 4404 includes a first end 4410 extending from a first side of housing 4402 and a second end 4412 extending from a second side of housing 4402. In various embodiments, gear 4414 is coupled to the first end 4410 of output shaft 4404. In some embodiments, gear 4414 is in mechanical communication with a motor gearbox (“MGB”) downstream of motor 4400 such that motor 4400 can drive the functions of the surgical instrument. In some embodiments, the function is to transition the end effector between an open state and a clamped state. In some embodiments, the function is to drive a firing member through a firing stroke. In various embodiments, gear 4414 is constructed of a metal (such as tungsten, platinum, hafnium, tantalum, rhenium, osmium, iridium, gold, mercury, thallium, lead, or any other suitable transition metal or post-transition metal) to add inertia to motor 4400 in order to compensate for inertial losses when operating motor 4400. In various embodiments, a ring or flywheel 4416 is coupled to the second end 4412 of output shaft 4404 to further add inertia to motor 4400 in order to compensate for inertial losses when operating motor 4400. In various embodiments, ring 4416 is constructed of a metal (such as tungsten, platinum, hafnium, tantalum, rhenium, osmium, iridium, gold, mercury, thallium, lead, or any other suitable transition metal or post-transition metal).

[0354] Now referring to Figure 42 , in accordance with at least one aspect of the present disclosure, a graph 4450 is provided that illustrates a comparison of a current motor and an improved motor 4400. In operation, the current motor operates at 75% of motor speed 4452 and 75% of inertial speed 4454. When the current motor encounters thick tissue, the inertial resistance I T 4456 from the thick tissue causes the motor speed 4452 and inertial speed 4454 of the current motor to stall. With the improved motor 4400, motor 4400 is capable of operating at a greater speed 4458 (100%) and a greater inertial speed 4460 (100%) such that the inertial resistance from tissue I T 4456 does not cause the motor to stall.

[0355] Now referring to Figure 43 , in accordance with at least one aspect of the present disclosure, a graph 4600 is provided that illustrates a comparison of a current motor and an improved motor 4400. In operation, the current motor is used to perform functions of the end effector, such as driving a firing member through a firing stroke to cut tissue and deploy staples. As shown in graph 4600, the inertia 4602 of the current motor gradually increases from t0 to t1 to I Cmax . At t1, the firing member encounters a resistance, such as thick tissue, which causes the current motor to lose inertia. The current motor attempts to gradually increase to I after t1 Cmax , but before reaching I CmaxPreviously, resistance was encountered again at t2. As the motor drives the firing member through the firing stroke from t2, this increasing attempt and resistance continue, such as at t3, t4, and t5. Since the motor cannot fully recover its inertia during the firing stroke before encountering additional resistance at t3, t4, and t5, the motor eventually stalls at t6.

[0356] Using the improved motor 4400, the motor 4400 can encounter additional resistance before stalling. As shown in the graph 4600, the inertia 4604 of the motor 4400 gradually increases from t0 to t1 to be greater than I Cmax of I Imax . Similar to the current motor, as the motor 4400 drives the firing member through its firing stroke, such as at t1 to t5, the firing member encounters resistance. However, due to the additional inertia added to the system, the motor 4400 does not stall until t7, which is later than t6. Therefore, the improved motor 4400 can withstand greater resistance than the current motor.

[0357] In various embodiments, a control system (such as the controller 620) can control the motor 4400 such that vibrations are induced within the closure system and / or the firing system, causing the fluid within the tissue to be driven away from the tissue. Such methods of vibration control are described in U.S. Patent Application Publication No. 2021 / 0059773, which is hereby incorporated by reference in its entirety. In various embodiments, the control system can cause the closure system and / or the firing system to oscillate or pulsate in order to cause fluid movement from the tissue and thus provide a release to the motor during its operation.

[0358] In some cases, it would be beneficial to control the firing system (such as the firing motor drive assembly 604) based on various types of feedback received by sensors (such as any suitable sensor described elsewhere herein). In some embodiments, the feedback includes the reloading of the selected staple cartridge, the joint movement angle of the end effector, the amount of pre-compression applied to the tissue before firing the firing system, or various combinations thereof. In one aspect, the clamping and pre-compression feedback, along with the reloading selection and joint movement angle, can predict the firing load. Therefore, the control system can compensate for the predicted firing load based on these parameters.

[0359] In various embodiments, a control system (such as controller 620) may predict a firing load based on one or more of the foregoing parameters. Before enabling the firing system, the control system may predict whether the firing load is outside an expected range. In various embodiments, the expected range is stored in a memory (such as memory 624) and may be retrieved by the control system. In various embodiments, the expected range is user-defined. In one aspect, if the predicted firing load is outside the expected range, the control system may cause a closure system (such as closure motor drive assembly 605) to continue to advance a closure member (such as closure loop 4056) to increase the closing force, which will decrease the predicted firing load. The closing force may be increased until the predicted firing load is within the range.

[0360] In various embodiments, the control system provides feedback to a clinician, such as feedback on a display, notifying the clinician if the predicted firing load cannot be brought within the range. In such embodiments, the control system may recommend a corrective action, such as recommending a more appropriate staple cartridge reload, a different joint movement angle, or any other suitable corrective action that will reduce the predicted firing load.

[0361] In some aspects, the predicted firing load is used to assign an initial firing speed to a firing member (such as firing member 1900). During the firing stroke of the firing member, the control system advances the closure member (such as closure loop 4056) discretely or continuously, as described elsewhere herein, to reduce the firing load experienced by the firing system.

[0362] In many cases, it will be desirable to adapt both the closure system and the firing system during a surgical cutting and suturing procedure. In one aspect, adapting both systems based on inputs obtained before and / or during a surgical suturing and cutting procedure optimizes the systems and ensures that appropriate parameters are utilized, resulting in better surgical outcomes. Additionally, it will be desirable to adapt the firing system based on monitoring inputs received when the closure system transitions the end effector of the surgical instrument to a clamped state, before and / or during actuation of the firing system.

[0363] Now refer to Figure 44, according to at least one aspect of the present disclosure, a method 4700 for controlling a surgical instrument is provided. Method 4700 includes receiving 4702 a first input. In various embodiments, the first input includes an input provided by a user at an input interface. In various embodiments, the first input includes an input received from a sensor within the surgical instrument (such as any suitable sensor described elsewhere herein). In some embodiments, the received input includes the type of staple cartridge positioned within the end effector. In various embodiments, the surgical instrument includes a radio frequency identification (“RFID”) scanner operably communicable with a control system of the surgical instrument (such as controller 620), and the staple cartridge includes an RFID tag. The RFID scanner can interrogate the RFID tag such that the control system can determine the type of staple cartridge positioned within the end effector.

[0364] In various embodiments, receiving the input includes parameters associated with the end effector (such as end effector 1300) transitioning to a clamped state. In some embodiments, the parameters include the amount of time it takes for a closing system (such as closing motor drive assembly 605) to transition the end effector to the clamped state. In some embodiments, the parameters include the amount of time it takes for the closing system to transition the end effector to a partially clamped state. In some embodiments, the parameters include the load applied by the end effector to tissue within the jaws of the end effector. In some embodiments, the received input includes parameters associated with tissue captured within the end effector. In some embodiments, the parameters include the impedance of the tissue. In some embodiments, the parameters include the rate of change of the force applied to the tissue. In some embodiments, the parameters include the type of tissue captured by the end effector.

[0365] Method 4700 further includes setting 4704 a first parameter of a motor-powered closing system based on the received first input. In various embodiments, the control system can utilize the received input to set parameters for a motor-powered closing system (such as closing motor drive assembly 605). In some embodiments, the control system compares the received input to a predetermined value stored in a memory (such as memory 624) in order to determine the first parameter. In some embodiments, the first parameter includes the speed of a closing motor (such as closing motor 603). In some embodiments, the first parameter includes the duty cycle of the closing motor. In some embodiments, the first parameter includes the amount of current or voltage supplied from a power source (such as power source 628) to the closing motor. Other parameters of the motor-powered closing system are described elsewhere herein. Thus, the control system is able to adjust the closing system based on the received input.

[0366] Method 4700 further includes driving the 4706 end effector toward the clamped state using a first parameter with a motor-powered closure system. In various embodiments, the control system may transmit a control signal to the closure motor such that the motor-powered closure system (such as the closure motor drive assembly 605) drives the end effector toward the clamped state using the first parameter.

[0367] Method 4700 further includes monitoring 4708 a second parameter associated with the transition of the end effector toward the clamped state. In various embodiments, the control system may interrogate any number of sensors within the surgical instrument, such as force sensors or pressure sensors, to monitor the parameter associated with the transition of the end effector toward the clamped state. In various embodiments, the second parameter includes the amount of time it takes to transition the end effector to the clamped state. In various embodiments, the second parameter includes the rate at which the end effector transitions toward the clamped state. In various embodiments, the second parameter includes the amount of force applied to tissue captured within the end effector. In various embodiments, the second parameter includes the amount of time it takes to transition the end effector to a partial clamped state. Other parameters associated with transitioning the end effector toward the clamped state are described elsewhere herein. In various embodiments, method 4700 further includes dynamically adjusting the first parameter based on the monitored second parameter. Thus, as the end effector transitions to the clamped state, the control system is able to adapt the closure system based on the monitored input.

[0368] Method 4700 further includes receiving 4710 a second input. In various embodiments, the second input includes an input provided by a user at an input interface. In various embodiments, the second input includes an input received from a sensor within the surgical instrument (such as any suitable sensor described elsewhere herein). In some embodiments, the received input includes the type of staple cartridge positioned within the end effector. In various embodiments, the surgical instrument includes an RFID scanner operably communicable with the control system of the surgical instrument (such as the controller 620), and the staple cartridge includes an RFID tag. The RFID scanner may interrogate the RFID tag such that the control system may determine the type of staple cartridge positioned in the end effector.

[0369] Method 4700 further includes setting 4712 a third parameter of the motor-powered firing system based on the received second input and the monitored second parameter. In various embodiments, the control system may utilize the received input and the monitored parameter of the end effector moving to the clamping state to set parameters of a motor-powered firing system (such as firing motor drive assembly 604). In some embodiments, the control system compares the received input and the monitored parameter with a predetermined value stored in a memory (such as memory 624) to determine the third parameter. In some embodiments, the third parameter includes the speed of a firing motor (such as firing motor 602). In some embodiments, the third parameter includes the duty cycle of the firing motor. In some embodiments, the third parameter includes the amount of current or voltage supplied from a power source (such as power source 628) to the firing motor. Other parameters of the motor-powered firing system are described elsewhere herein. Thus, the control system is capable of adapting the firing system based on the received input and the input obtained when the end effector transitions to the clamping state.

[0370] Method 4700 further includes driving 4714 a firing member toward a firing position using the third parameter with the motor-powered firing system. In various embodiments, the control system may transmit a control signal to the firing motor, causing the motor-powered firing system (such as firing motor drive assembly 604) to drive the firing member (such as firing member 1900) toward the firing position, which causes staples removably stored in a staple cartridge (such as staple cartridge 1301) to be deployed therefrom.

[0371] In some embodiments, the control system is configured to be capable of driving the firing member toward the firing position at a time after the motor-powered closing system has placed the end effector in the clamping state. In various other embodiments, the control system is configured to be capable of driving the firing member toward the firing position while the control system drives the end effector toward the clamping state. In such embodiments, the firing system and the closing system are operated simultaneously or in an overlapping manner by the control system. Such simultaneous operation allows the control system to monitor parameters associated with the closing of the end effector and to adjust the firing system based on these monitored parameters. In various embodiments, the control system may monitor parameters associated with driving the firing member (such as firing force) and adapt the closing system based on these monitored parameters. Thus, the control system may dynamically adapt one system based on the input received from the other system when both systems are operating.

[0372] Method 4700 optionally further includes dynamically adjusting a third parameter 4716 as the firing member moves toward the firing position. In various embodiments, the control system monitors parameters associated with the clamping system or the firing system and dynamically adjusts or adapts the third parameter accordingly. In some embodiments, the control system adjusts the third parameter based on how long the end effector has been in the clamped state. In some embodiments, the control system adjusts the third parameter based on how long the end effector has been in a partially clamped state. In some embodiments, the control system adapts the third parameter based on the rate of change of the force applied to the tissue within the jaws of the end effector. In some embodiments, the control system adapts the third parameter based on the firing force used to fire the firing member. In some embodiments, the control system adapts the third parameter based on parameters associated with the transition of the end effector toward the clamped state, as described above. Thus, the control system can dynamically adjust the firing system during the firing stroke of the firing member.

[0373] In some cases, when driving the closure system in a position control manner, as described elsewhere herein, based on both tissue creep and other axis actuation systems operating in a direction similar to the closure system, the load applied by the end effector to the tissue is reduced. This relationship can be used not only to affect the load control of the closure system to balance the load, but also as a measure of the load state of the firing system. Thus, this relationship can be used to determine the optimal firing parameters (such as the optimal advancement speed) of the firing member (such as firing member 1900). Additionally, this relationship can be used to determine the timing and length of the wait cycle pause of the firing member (such as firing member 1900) during the firing stroke.

[0374] Furthermore, the type and / or disease state of the tissue can be detected based on tissue creep and clamping pressure during closure of the end effector. The detected tissue type and / or its disease state can further be used to control the advancement speed of the firing member to minimize tearing and loading of the tissue. Thus, among other things, the present disclosure also provides an apparatus for controlling the advancement speed of the firing system based on the closure load and tissue type of the control system, as detailed below.

[0375] In various embodiments, a surgical instrument including an end effector and a clamping system (such as the closure motor drive assembly 605) is used to clamp tissue during a clamping stroke. A sensor (such as any number of sensors described elsewhere herein) can be used to monitor the load applied by the end effector during the clamping stroke. In various embodiments, the sensor measures the load applied by the end effector by measuring the current passing through the closure motor (such as the closure motor 603) of the clamping system. In various other embodiments, the sensor uses a force sensor positioned in at least one of the jaws of the end effector to measure the load applied by the end effector. During the clamping process, a control system (such as the controller 620) interrogates the sensor to determine the clamping load and uses the determined load to set the firing parameters of a firing system (such as the firing motor drive assembly 604).

[0376] In some embodiments, the control system sets the firing parameters based on the amount of electrical current delivered to the closure motor during the clamping stroke. In some embodiments, the control system sets the firing parameters based on the rate at which current is delivered to the closure motor during the clamping stroke. In some embodiments, the control system sets the firing parameters based on a comparison of the maximum current supplied to the motor with one or more current thresholds. In some embodiments, the current thresholds are stored in a memory (such as the memory 624) and can be retrieved by the control system. In some embodiments, the current thresholds are defined by the user at an input interface. In various embodiments, the control system sets the firing parameters based on the amount of time that current has been delivered to the closure motor.

[0377] In various embodiments, the control system also determines the tissue type or disease state of the tissue captured within the end effector. In some embodiments, once the end effector reaches a clamping state, the control system uses a sensor (such as a force sensor or a current sensor) to determine the rate of change of the force applied by the end effector to the tissue. In some embodiments, the clamping state is defined as a state in which the end effector 1300 is in a closed configuration and the closure trigger 1032 is in an actuated position. In other embodiments, the clamping state is defined as a state in which the elongate channel 1310 of the end effector 1300 and the anvil 2000 are within a threshold distance of each other. In other embodiments, the clamping state is defined as a state in which the closure trigger 1032 has pivoted a threshold distance away from the unactuated position.

[0378] In some embodiments, as the end effector transitions to the clamping state, the control system utilizes sensors (such as force sensors or current sensors) to determine the rate of change of the force applied by the end effector to the tissue. The control system compares the determined rate of change with the rate of change stored in a memory (such as memory 624) associated with the type / disease state of the tissue. In one embodiment, the control system detects that the rate of change of the force captured in the end effector is a first rate of change. The control system compares the first rate of change with the rate of change stored in the memory, where each stored rate of change corresponds to the tissue type and / or disease state of various types of tissue. Based on this comparison, the control system can identify the type and / or disease state of the tissue captured within the end effector.

[0379] Based on at least one of the determined clamping load applied to the tissue and the determined tissue type / disease state, the control system sets the firing parameters of the firing system. In various embodiments, setting the firing parameters of the firing system includes setting the duty cycle of the motor of the firing system. In various embodiments, setting the firing parameters of the firing system includes setting the speed of the motor of the firing system. In various embodiments, setting the firing parameters of the firing system includes controlling the amount of current delivered to the motor of the firing system.

[0380] In one aspect, after the control system sets the firing parameters of the firing system, the control system can cause the firing system to drive a firing member (such as firing member 1900) through a firing stroke using a firing motor (such as firing motor 602). In some embodiments, the control system continues to monitor the current through the closure motor during the firing stroke and dynamically adjusts the firing parameters based on the monitored current. In various other embodiments, the control system monitors the elapsed time that the end effector has been in the clamping state and dynamically adjusts the firing parameters based on the elapsed time. In various other embodiments, the control system monitors the elapsed time since the end effector first contacts the tissue when the end effector transitions to the clamping state and dynamically adjusts the firing parameters based on the elapsed time. In some embodiments, the control system can pause the advancement of the firing member based on a comparison of the current through the closure motor with a closure load threshold.

[0381] Now refer to Figure 45, according to at least one aspect of the present disclosure, a method 5000 for controlling a surgical instrument is provided. Method 5000 includes driving 5002 a motor-powered closure system to transition the end effector towards a clamped state. In various embodiments, a control system (such as controller 620) may transmit a control signal to a closure motor (such as closure motor 603) of a motor-powered closure system (such as closure motor drive assembly 605) to cause the motor-powered closure system to transition the end effector (such as end effector 1300) towards a clamped state.

[0382] Method 5000 further includes detecting 5004 the current of the motor of the motor-powered closure system. In various embodiments, a sensor (such as any number of sensors described elsewhere herein) may monitor the current provided to closure motor 603 from a power source (such as power source 628).

[0383] Method 5000 further includes setting 5006 the firing parameters of a motor-powered firing system based on the detected current. In various embodiments, the control system may utilize the detected current through the motor, as described elsewhere herein, to set the firing parameters of a motor-powered firing system (such as firing motor drive assembly 604). In some embodiments, the firing parameters include the duty cycle of a firing motor (such as firing motor 602). In various embodiments, the firing parameters include the speed of the firing motor.

[0384] Method 5000 further includes driving 5008 a firing member through a firing stroke using the firing parameters with a motor-powered firing system. In various embodiments, the control system may use firing motor 602 and the firing parameters to cause the motor-powered firing system to drive a firing member (such as firing member 1900) through a firing stroke. In some embodiments, the firing stroke of the firing member causes staples removably stored in a staple cartridge (such as staple cartridge 1301 removably positioned in the end effector) to be deployed into tissue captured by the end effector.

[0385] Method 5000 optionally further includes dynamically 5010 adjusting the firing parameters during the firing stroke. In various embodiments, the control system continues to monitor the current through the closure motor during the firing stroke and dynamically adjusts the firing parameters based on the monitored current. In various embodiments, the control system measures the elapsed time since the end effector first contacts tissue when transitioning to the clamped state and adjusts the firing parameters based on the elapsed time. In various embodiments, the control system measures the elapsed time since the end effector reaches the clamped state and adjusts the firing parameters based on the elapsed time.

[0386] Now refer to Figure 46, according to at least one aspect of the present disclosure, a method 5100 for controlling a surgical instrument is provided. The method 5100 includes driving 5102 a motor-powered closure system to transition the end effector toward a clamped state. In various embodiments, a control system (such as controller 620) may transmit a control signal to a closure motor (such as closure motor 603) of the motor-powered closure system (such as closure motor drive assembly 605) to cause the motor-powered closure system to transition the end effector (such as end effector 1300) toward a clamped state.

[0387] The method 5100 further includes detecting 5104 the load applied to tissue by the end effector. In various embodiments, a sensor (such as any number of sensors described elsewhere herein) monitors the current provided to closure motor 603 from a power source (such as power source 628) to measure the load applied to tissue by the end effector. In various embodiments, a force sensor positioned on the end effector measures the load applied by the end effector. In various embodiments, the control system interrogates the sensor or receives a signal from the sensor to determine the load applied to tissue by the end effector.

[0388] The method 5100 further includes determining 5106 the rate of change of the load applied to tissue by the end effector. In various embodiments, the control system monitors readings from the sensor over time to determine the rate of change of the load over time. In various embodiments, the control system determines the rate of change as the end effector transitions toward the clamped state. In various embodiments, the control system determines the rate of change after the end effector has reached the clamped state. In various embodiments, the control system determines the rate of change as the end effector transitions to the clamped state and after the end effector has reached the clamped state.

[0389] The method 5100 further includes determining 5108 the tissue type of the tissue based on the determined rate of change. In various embodiments, as detailed elsewhere herein, the control system may determine the tissue type and / or disease state of the tissue by comparing the determined rate of change with rate of changes stored in a memory, where the stored rate of changes correspond to different types of tissue and / or disease states of the tissue.

[0390] Method 5100 further includes setting 5110 the firing parameters of a motor-powered firing system based on the determined tissue type. In various embodiments, the control system can utilize the determined tissue type to set the firing parameters of a motor-powered firing system (such as firing motor drive assembly 604). In some embodiments, the firing parameters include the duty cycle of a firing motor (such as firing motor 602). In various embodiments, the firing parameters include the speed of the firing motor. In various embodiments, the firing parameters include parameters suitable for cutting and suturing the determined tissue type.

[0391] Method 5100 further includes driving 5112 a firing member through a firing stroke using the firing parameters with a motor-powered firing system. In various embodiments, the control system can use firing motor 602 and the firing parameters to drive a firing member (such as firing member 1900) through a firing stroke with a motor-powered firing system. In some embodiments, the firing stroke of the firing member causes staples removably stored in a staple cartridge (such as staple cartridge 1301 removably positioned in an end effector) to be deployed into tissue captured by the end effector.

[0392] Method 5100 optionally further includes dynamically 5114 adjusting the firing parameters during the firing stroke. In various embodiments, the control system monitors the current through a closure motor of the closure system during the firing stroke and adjusts the firing parameters based on the monitored current. In various embodiments, the control system measures the elapsed time since the end effector first contacts tissue when transitioning to a clamping state and adjusts the firing parameters based on the elapsed time. In various embodiments, the control system measures the elapsed time since the end effector reaches a clamping state and adjusts the firing parameters based on the elapsed time.

[0393] Some surgical instruments have a portion of the stroke that requires a first compression level and would benefit from having a second portion with a different tissue compression level. In some embodiments, the force of the motorized clamping arm of an ultrasonic surgical instrument, similar to the ultrasonic instruments described in U.S. Patent 10,842,523, which is hereby incorporated by reference in its entirety, would benefit from an increase in compression when the system is ready to cut, but have a lower level when the system is performing tissue welding. In some other embodiments, the RF energy activation of an electrosurgical instrument, similar to the electrosurgical instruments described in U.S. Patent 10,842,523, which is hereby incorporated by reference in its entirety, benefits from a first compression at the start of welding, but a lower compression at the end of welding to balance tissue heating and tissue adhesion. In some other embodiments, a stapler (such as any of the surgical stapling instruments described elsewhere herein) would benefit from better tissue stability with higher compression at the start of staple deployment of the firing member, but the same combination of compression and anvil pressure can translate into higher friction and firing force (FTF) at a later part of the stroke.

[0394] Depending on the tissue thickness and staples to be cut, surgical staplers use different types of staple cartridges. As an example, during gastric surgery, the tissue thickness increases as portions of the stomach are resected. Thus, a clinician will use a continuous staple cartridge to account for the increased tissue thickness. In one aspect, the clamping system is adapted during firing to account for the increased thickness and / or reduce the motor speed to prevent tissue flow and / or stalling when entering thicker tissue. In various embodiments, once the end effector has reached the clamping state, a control system (such as controller 620) determines the tissue thickness based on the tissue gap between the anvil and the elongate channel of the end effector. In various embodiments, the control system includes an RFID scanner that scans an RFID tag on the inserted staple cartridge to determine the expected tissue thickness to be cut. Based on the determined tissue thickness, the control system sets the firing speed of the firing system.

[0395] In various embodiments, the control system dynamically adjusts the firing system of the surgical instrument based on the stroke position of the firing member, the time since activation of the firing system, the time since activation of an electrosurgical system (such as a generator), the time since activation of an ultrasonic system (such as an ultrasonic generator), the load measured on the firing activation system, or a combination thereof, etc. Based on the foregoing parameters, the control system can dynamically adjust the surgical instrument as the tissue is cut and / or sealed to provide a suitable tissue force.

[0396] In various embodiments, a control system causes a closure motor, such as closure motor 603, to apply a first force to tissue captured within an end effector. In some embodiments, in the case of an ultrasonic surgical instrument, the control system causes the closure motor to apply the first force before the ultrasonic blade of the ultrasonic surgical instrument begins cutting and welding tissue. In some embodiments, in the case of an electrosurgical instrument, as the electrosurgical instrument begins applying energy to tissue, the control system causes the closure motor to apply the first force. In some embodiments, in the case of a surgical stapling instrument, as a firing member, such as firing member 1900, begins moving through a stapling stroke, the control system causes the closure motor to apply the first force.

[0397] When the first force is applied, the control system monitors for the occurrence of a predetermined event. Based on detecting the predetermined event, the control system causes the closure motor to apply a second force that is different from the first force. In various embodiments, the control system utilizes sensors, such as any number of sensors described elsewhere herein, to monitor for the predetermined event. In various embodiments, in the case of an ultrasonic surgical instrument, the predetermined event includes the ultrasonic blade of the ultrasonic surgical instrument beginning to weld tissue. In some embodiments, the control system detects that the ultrasonic blade has begun to weld tissue by detecting actuation of a trigger on the ultrasonic instrument. In some embodiments, the control system detects that the ultrasonic blade has begun to weld tissue by detecting the current supplied to the ultrasonic transducer. In some embodiments, the control system detects that the ultrasonic blade has begun to weld tissue by detecting a change in tissue impedance using a sensor.

[0398] In various embodiments, in the case of an electrosurgical instrument, the predetermined event includes the electrosurgical instrument ceasing to apply energy to tissue. In some embodiments, the control system utilizes a sensor to detect the current flowing to an electrode in the end effector of the electrosurgical instrument to detect whether energy has ceased. In some embodiments, the control system utilizes a sensor to detect the energy supplied to the electrosurgical instrument by an electrosurgical generator to detect whether energy has ceased. In one aspect, reducing the force at the termination of the welding process balances tissue heating and tissue adhesion, resulting in better surgical outcomes.

[0399] In various embodiments, in the case of a surgical stapling instrument, the predetermined event includes the firing member reaching a predetermined point along the firing stroke. In some embodiments, the control system uses a position sensor, such as any number of position sensors described elsewhere herein, to detect that the firing member has reached the predetermined point. In some embodiments, the predetermined position includes a predetermined position away from the starting position of the firing member. In some embodiments, the predetermined position includes a predetermined position away from the ending position of the firing member. In one aspect, reducing the force at the end of the firing stroke results in lower friction and lower firing force, resulting in better surgical outcomes.

[0400] In some embodiments, the second force is greater than the first force. In some embodiments, the second force is less than the first force. In some embodiments, the control system causes the end effector to transition gradually from the first force to the second force. In some embodiments, the control system causes the end effector to transition rapidly from the first force to the second force.

[0401] Now referring Figure 47 , according to at least one aspect of the present disclosure, a method 5150 for controlling a surgical instrument is provided. In various embodiments, method 5150 includes driving 5152 an end effector of the surgical instrument to apply a first force to tissue using a closure system. In some embodiments, a control system (such as controller 620) drives a closure motor (such as closure motor 603) of a closure system (such as closure motor drive assembly 605) to cause the end effector (such as end effector 1300) to apply a first force to tissue.

[0402] Method 5150 further includes detecting 5154 the occurrence of a predetermined event associated with the operation of a different surgical system of the surgical instrument. In some embodiments, in the case of an ultrasonic instrument, the different surgical system includes an ultrasonic drive system having an ultrasonic knife, and the predetermined event includes the ultrasonic knife starting to cut and weld tissue. In some embodiments, in the case of an electrosurgical instrument, the different surgical system includes an electrosurgical system having an electrode that applies energy to tissue, and the predetermined event includes the electrode stopping applying energy to tissue. In some embodiments, in the case of a surgical stapling instrument, the different surgical system includes a firing system, such as firing motor drive assembly 604, and the predetermined event includes the firing member reaching a predetermined position along the firing stroke. In various embodiments, the control system uses any number of sensors described elsewhere herein to detect the aforementioned predetermined events.

[0403] Method 5150 further includes driving 5156 the end effector to apply a second force to the tissue that is different from the first force. In various embodiments, based on detecting the predetermined event, the control system can control the closure system to adjust the closing force applied by the end effector. In various embodiments, the second force is less than the first force. In various embodiments, the second force is greater than the first force. In some embodiments, the control system causes the end effector to transition gradually from the first force to the second force. In some embodiments, the control system causes the end effector to transition rapidly from the first force to the second force. In one aspect, changing the force applied by the end effector results in better surgical outcomes.

[0404] In one aspect, as the firing member (such as firing member 1900) is driven through the firing stroke, its upper flange (such as anvil engagement tab 1924) and lower flange (such as lower channel engagement tab 1926) engage the jaws of the end effector. The engagement between the upper / lower flange and the end effector causes the load applied to the tissue by the end effector to be distributed to both the upper / lower flange and the closure system (such as closure motor drive assembly 605). In other words, prior to advancing the firing member through the firing stroke, the closure system is responsible for applying a closure load to the tissue. As the firing member traverses the firing stroke, the firing member "relieves" the load on the closure system, such that the load is distributed between the two systems of the surgical instrument. In various embodiments, the control system may detect how much load is applied to the tissue by the closure system during the firing stroke. In some embodiments, the control system uses a current sensor that detects the current flowing through the closure motor (such as closure motor 603) of the closure system to detect how much load is applied by the closure system. Based on the detected current, the control system may adjust the current supplied to the closure motor in order to maintain or regulate the closure load jointly applied by the closure system and the firing member during the firing stroke. In one aspect, as described elsewhere herein, the control system may adjust the closure load applied by the closure system by controlling the position of the closure loop 4056 during the firing stroke.

[0405] For example, during operation of the surgical instrument, the user may use a clamping system (such as closure system 3000 or closure motor drive assembly 605) to transition the end effector (such as end effector 1300) from an open state toward a clamped state. As the end effector transitions toward the clamped state, the end effector may reach a partially clamped state that is intermediate between the open state and the clamped state. In some embodiments, the partially clamped state is defined as the state in which the end effector first contacts the tissue and begins to apply force to the tissue. In some embodiments, the partially clamped state is defined as the state in which the anvil of the end effector is within a threshold distance of the elongated channel of the end effector. After reaching the partially clamped state, the end effector may continue to transition toward the clamped state. In some instances, it is desirable to provide non-visual feedback to the clinician indicating how long the end effector has been in the partially clamped state and / or the clamped state. Providing non-visual feedback helps the clinician maintain their focus on the task at hand without the need to look at a visual indicator (such as an external display) to determine how long the end effector has been in the partially clamped state or the clamped state.

[0406] In various embodiments, the surgical instrument includes, for example, a control system, such as circuit board 1100 or controller 620, that repetitively generates a haptic response in a predetermined rhythm to provide feedback to the clinician regarding the time since the end effector reached a partial clamping state and / or a clamping state. In some embodiments, the magnitude of the vibration can be minimized every cycle or every several cycles to provide the user with "visibility" into the number of cycles that have elapsed and thus determine how long the end effector has been in the partial clamping state and / or the clamping state.

[0407] In some embodiments, the clinician uses a motor-driven closure system (such as closure motor drive assembly 605) to transition the end effector toward the clamping state. For example, the control system can use any number of sensors (such as Hall effect sensors) described elsewhere herein to detect when the end effector reaches the clamping state. Based on that detection, the control system can operate the haptic device at a predetermined frequency (such as once every second), where the magnitude of each vibration is decreased by a predetermined amount, such as 50% per pulse. Thus, the clinician can determine how long the end effector has been in the clamping state based on the significant and decreasing feedback from the haptic device until the firing system is actuated.

[0408] In various embodiments, the control system can use the motor of the surgical instrument to provide haptic feedback. In some embodiments, after detecting that the end effector has reached the clamping state and / or the partial clamping state, the control system (such as controller 620) can cause a 200 ms forward and 200 ms backward surge current to flow through the closure motor (such as closure motor 603) to cause a slight movement in the motor pinion. This in-and-out flow of current causes an apparent handle movement that can be detected by the clinician but substantially does not move the closure drive train. In various other embodiments where the surgical instrument does not include a closure motor, the control system causes a surge and return of current through the firing motor to generate haptic feedback. In various embodiments, the control system regulates the surge / return of current into the motor to provide decreasing feedback to the clinician to inform the clinician of the elapsed time since the end effector has been in the partial clamping state or the clamping state. In some embodiments, over time, the control circuit decreases the amount of time of the forward and reverse surge current through the motor. In some embodiments, over time, the control circuit decreases the magnitude of the forward and reverse surge current through the motor.

[0409] In many cases, it is desirable to adapt one drive system of a surgical instrument based on measurement results obtained when monitoring a second drive system of the surgical instrument. For example, a control system of a surgical instrument may monitor one or more parameters associated with operating a first drive system of the surgical instrument. Such monitoring allows the control system to determine information regarding the type of tissue that the surgical instrument is processing. Based on the monitored parameters, the surgical instrument may adjust or adapt one or more parameters of a second, different drive system of the surgical instrument. Such adaptation allows the control system to ensure that appropriate and optimal parameters of the second drive system are utilized based on the information obtained when operating the first drive system.

[0410] In some cases, a clinician may utilize a surgical stapling instrument to cut and staple tissue captured within the jaws of an end effector. In some embodiments, the surgical stapling instrument may be similar to surgical instrument 1010 or any other suitable surgical instrument described elsewhere herein. In operation, a clinician may actuate a closure system (such as closure system 3000 or closure motor drive assembly 605) to move the end effector (such as end effector 1300) toward a clamped state. For example, a control system (such as circuit board 1100 or controller 620) may be operably in communication with a sensor of the surgical instrument to monitor parameters associated with moving the end effector toward the clamped state. In some embodiments, the parameters include the clamping load applied to the tissue by the end effector. In various other embodiments, the parameters include the amount of time taken to reach the clamped state. In various other embodiments, the parameters include the amount of time taken to reach a partially clamped state. In various other embodiments, the parameters include the amount of time the end effector is in the clamped state prior to actuating a second drive system. In various other embodiments, the parameters include the speed at which the end effector moves toward the clamped state. In various other embodiments, the parameters include the rate of change of the force applied to the tissue by the end effector.

[0411] Based on the parameters monitored by the control system via the sensor, the control system sets parameters of a second drive system (such as a firing system) of the surgical instrument. For example, in some embodiments, setting the parameters of the second drive system includes setting firing parameters of the firing system, such as firing drive system 1080 or firing motor drive assembly 604. In some embodiments, setting the parameters of the second drive system includes, for example, setting parameters of a motor (such as motor 1082 or firing motor 602) that drives a firing member (such as firing member 1900) through a firing stroke. In some embodiments, the parameters of the motor include the duty cycle of the motor. In some embodiments, the firing parameters include the speed of the motor. In some embodiments, the firing parameters include the amount of current or voltage supplied from a power source to the motor. In some embodiments, setting the firing parameters of the second drive system includes setting multiple parameters of the second drive system.

[0412] In various other embodiments, the control system monitors parameters associated with a second drive system, such as a firing system, to set parameters for a first drive system, such as a closure system. In some embodiments, for example, the control system monitors parameters associated with driving a firing member through a firing stroke, such as a firing load on the firing member, the amount of electrical current applied to a motor, or the speed of the motor. Based on the monitored parameters, the control system sets parameters for the first drive system. In some embodiments, setting parameters for the first drive system includes setting a clamping load of an end effector. Thus, based on parameters monitored during firing of a surgical instrument, the control system can effect a change to the clamping system of the surgical instrument. In some embodiments, the change can include changing the clamping load applied to tissue by the end effector during and / or after the firing stroke of the firing system.

[0413] In some cases, an electrosurgical instrument similar to the electrosurgical instrument described in U.S. Patent 10,842,523, which is hereby incorporated by reference in its entirety, can be used by a clinician to weld and cut tissue captured within the jaws of an end effector. In operation, the clinician can actuate the closure system of the electrosurgical instrument to move the clamping arms toward a clamped state. For example, a control system, such as circuit board 1100 or controller 620, can be operably in communication with sensors of the electrosurgical instrument to monitor parameters associated with moving the end effector toward the clamped state, similar to those described above with respect to the surgical stapling instrument. In various embodiments, the control system can monitor parameters associated with applying energy to tissue by the end effector. In some embodiments, parameters associated with applying energy to tissue by the end effector include the magnitude of the energy applied to the tissue via an electrode. In some embodiments, parameters associated with applying energy to tissue by the end effector include the amount of time that the end effector has applied energy to the tissue by the electrode. In some embodiments, parameters associated with applying energy to tissue by the end effector include tissue impedance. In some embodiments, parameters associated with applying energy to tissue by the end effector include the rate of change of tissue impedance.

[0414] Based on the parameters monitored by the control system via sensors, the control system can set the parameters of a second drive system (such as the cutting system or the clamping system of an electrosurgical instrument). In some embodiments, setting the parameters of the second drive system includes setting the firing parameters of the cutting system. In some embodiments, setting the firing parameters of the cutting system includes setting the parameters of a motor that drives a cutting member through a cutting stroke. In some embodiments, the parameters of the motor include the duty cycle of the motor. In some embodiments, the firing parameters include the speed of the motor. In some embodiments, the firing parameters include the amount of current or voltage supplied from a power source to the motor. In some embodiments, setting the firing parameters of the second drive system includes setting multiple parameters of the second drive system.

[0415] In various embodiments, setting the parameters of the second drive system includes setting the parameters of a closure system. In some embodiments, setting the parameters of the closure system includes the amount of force applied to tissue. In some embodiments, setting the parameters of the closure system includes the rate of change of the force applied to tissue. In some embodiments, setting the parameters of the closure system includes the speed at which the end effector moves toward a clamped state. Various other parameters associated with the clamping system are described elsewhere herein.

[0416] In some cases, an ultrasonic instrument similar to the ultrasonic instrument described in U.S. Patent 10,842,523 (which is incorporated herein by reference in its entirety) can be used by a clinician to cut tissue captured within the jaws of an end effector. In operation, the clinician can actuate the closure system of the ultrasonic instrument to move the clamping arms toward a clamped state. For example, a control system (such as circuit board 1100 or controller 620) can be operably in communication with sensors of the ultrasonic instrument to monitor parameters associated with the movement of the end effector toward a clamped state, similar to those described above with respect to the surgical stapling instrument and the electrosurgical instrument.

[0417] In various embodiments, the control system can monitor parameters associated with the application of energy from the end effector to tissue. In some embodiments, the parameters associated with the application of energy from the end effector to tissue include the magnitude of the energy applied to tissue via an ultrasonic blade. In some embodiments, the parameters associated with the application of energy from the end effector to tissue include the amount of time that the end effector has applied energy to tissue via the ultrasonic blade. In some embodiments, the parameters associated with the application of energy from the end effector to tissue include tissue impedance. In some embodiments, the parameters associated with the application of energy from the end effector to tissue include the rate of change of tissue impedance. In various embodiments, the parameters associated with the application of energy from the end effector to tissue include the frequency of the ultrasonic blade.

[0418] Based on the parameters monitored by the control system via sensors, the control system can set the parameters of a second drive system (such as the ultrasonic drive system or the clamping system of an ultrasonic instrument). In some embodiments, setting the parameters of the second drive system includes setting the parameters of the ultrasonic drive system. In some embodiments, setting the firing parameters of the ultrasonic drive system includes setting the parameters of the ultrasonic transducer that causes the ultrasonic blade to oscillate to cut tissue. In some embodiments, the parameters of the motor include the duty cycle of the motor. In some embodiments, the parameters include the frequency of the ultrasonic blade. In some embodiments, the parameters include the amount of current or voltage supplied from a power source to the transducer. In some embodiments, setting the parameters of the second drive system includes setting multiple parameters of the second drive system.

[0419] In various embodiments, setting the parameters of the second drive system includes setting the parameters of a closure system. In some embodiments, setting the parameters of the closure system includes the amount of force applied to tissue. In some embodiments, setting the parameters of the closure system includes the rate of change of the force applied to tissue. In some embodiments, setting the parameters of the closure system includes the speed at which the end effector moves towards the clamped state. Various other parameters associated with the clamping system are described elsewhere herein.

[0420] Now refer to Figure 48 , according to at least one aspect of the present disclosure, a method 5200 for controlling a surgical instrument is provided. Method 5200 includes detecting 5202 the actuation of a first drive system of the surgical instrument. In various embodiments, a control system (such as controller 620) can detect the actuation of the first drive system using, for example, any number of sensors (such as a current sensor or a position sensor) described elsewhere. In some embodiments, the control system detects the actuation of the first drive system by monitoring the position of an actuator (such as closure trigger 1032 or firing trigger 1130), for example. In various embodiments, the surgical instrument includes a surgical stapling instrument, such as surgical instrument 1010. In various embodiments, the surgical instrument includes an electrosurgical instrument. In various embodiments, the surgical instrument includes an ultrasonic instrument.

[0421] Method 5200 further includes driving 5204 a first function of the end effector of the surgical instrument using the first drive system. In various embodiments, the first function includes transitioning the jaws of the end effector towards a clamped position. In various embodiments, the first function includes applying energy to tissue positioned within the end effector using an energy delivery component. In various embodiments, the energy delivery component includes an ultrasonic blade. In various embodiments, the energy delivery component includes an electrode. In various embodiments, the first function includes driving a firing member to deploy staples removably stored in a staple cartridge positioned within the end effector.

[0422] Method 5200 also includes monitoring 5206 a first parameter associated with a first function. In various embodiments, the first parameter can be monitored by the control system using any number of sensors described elsewhere herein. In various embodiments, the first parameter includes the load applied by the jaws to tissue positioned within the end effector. In various embodiments, the first parameter includes the amount of time energy has been applied to tissue using an energy delivery component. In various embodiments, the first parameter includes the rate of change of tissue impedance. In various embodiments, the first parameter includes the speed at which a firing member or cutting member passes through the end effector. In various embodiments, the first parameter includes the current or voltage supplied to a motor or ultrasonic transducer of the surgical instrument.

[0423] Method 5200 also includes setting 5208 a second parameter associated with a second function of the end effector based on the monitored first parameter. In various embodiments, the control system utilizes the monitored first parameter to set the second parameter associated with the second function of the end effector. In various embodiments, the control system compares the monitored parameter to data stored in a memory (such as memory 624) in order to set the second parameter. In various embodiments, the second function includes driving a firing member toward a firing position to deploy staples removably stored in a staple cartridge. In various embodiments, the second function includes transitioning the jaws toward a clamping position. In various embodiments, the second function includes applying energy to tissue positioned within the end effector using an energy delivery component. In various embodiments, the energy delivery component includes a harmonic scalpel. In various embodiments, the energy delivery component includes an electrode.

[0424] Method 5200 also includes driving 5210 a second function of the end effector of the surgical instrument using a second drive system. In various embodiments, the control system transmits a control signal to the second drive system to cause the second drive system to drive the second function using the second parameter. Thus, the foregoing method 5200 adapts one drive system based on monitored parameters from a second separate and distinct drive system of the surgical instrument. Such adaptation results in better surgical outcomes, such as cleaner incisions, because the control system utilizes dynamically obtained information to vary parameters associated with different drive systems of the same surgical instrument.

[0425] Now refer to Figure 49 , according to at least one aspect of the present disclosure, a table is provided that illustrates the cross-cutting performance of various staple cartridges. As Figure 49As seen, parameters associated with different staple cartridges of different colors are provided. The staple cartridges include a staple cartridge having a first color (Color A), a staple cartridge having a second color (Color B), a staple cartridge having a third color (Color C), a staple cartridge having a fourth color (Color D), and a staple cartridge having a fifth color (Color E). Each staple cartridge in the staple cartridges may include at least one parameter different from other staple cartridges. For example, the Color A cartridge includes staples having a first unformed staple height, and the Color B cartridge includes staples having a second unformed staple height greater than the first unformed staple height. Also, for example, the Color A cartridge includes staples made of a first material, and the Color B cartridge includes staples made of a second material different from the first material. Also, for example, the Color A cartridge includes staples having a first wire diameter, and the Color B staple cartridge includes staples having a second wire diameter. Various other parameters associated with the staple cartridges are discussed elsewhere herein. It should be understood that the different colors are merely visual representations of staple cartridges having different configurations. In some aspects, different staple cartridges may equivalently be represented using any suitable identifying or differentiating characteristic instead of color.

[0426] Each staple cartridge in the staple cartridges is designed for minimum (indicated) use, maximum (designed) use, and overstress use. Each use corresponds to a recommended tissue type and a recommended tissue thickness. For example, the minimum (indicated) application of the Color A staple cartridge is for Type A tissue and a corresponding tissue thickness of t1.

[0427] As Figure 49 shown, the Color A staple cartridge is designed to be used with a first tissue type (Type A) and a second tissue type (Type B) and with tissue within a tissue thickness range of t1 to t3. The Color B staple cartridge is designed to be used with a third tissue type (Type C) and with tissue within a tissue thickness range of t4 to t6. The Color C staple cartridge is designed to be used with a third tissue type (Type C) and with tissue within a tissue thickness range of t7 to t9. The Color D staple cartridge is designed to be used with a third tissue type (Type C) and with tissue within a tissue thickness range of t 10 to t 12 within. The Color E staple cartridge is designed to be used with a third tissue type (Type C) and with tissue within a tissue thickness range of t 13 to t 15 within.

[0428] In various embodiments, the tissue thickness values (minimum / maximum / overstress) of the Color B staple cartridge are greater than the corresponding tissue thickness values of the Color A staple cartridge. Similarly, the tissue thickness values of the Color C staple cartridge are greater than the corresponding tissue thickness values of the Color B staple cartridge. Similarly, the tissue thickness values of the Color D staple cartridge are greater than the corresponding tissue thickness values of the Color C staple cartridge. Similarly, the tissue thickness values of the Color E staple cartridge are greater than the corresponding tissue thickness values of the Color D staple cartridge.

[0429] In various embodiments, the first tissue type (type A) includes jejunal tissue, the second tissue type (type B) includes colonic tissue, and the third tissue type (type C) includes gastric tissue. In various embodiments, for minimum design uses (t4, t7, t 10 and t 13 ) and maximum design uses (t5, t8, t 11 and t 14 ), the tissue thickness can be less than that for the overstress design uses for the lower cartridge (t3, t6, t9, and t 12 ), respectively. In operation, a clinician can select a suitable cartridge to use based on the data provided in the table of Figure 49 .

[0430] Now referring to Figure 50 , graph 6000 shows the firing force ("FTF") of a firing member at different speeds according to at least one aspect of the present disclosure. Graph 6000 shows, for example, four instances of driving a firing member (such as firing member 1900) through a similar type of tissue by a motor (such as motor 1082 or motor 602).

[0431] In two instances 6002, 6004, the motor drives the firing member through the firing stroke at a first speed V1. In two other instances 6006, 6008, the motor drives the firing member through the firing stroke at a second speed V2 that is less than the first firing speed V1. As Figure 50 shown, for instances 6002, 6004, driving the firing member at the first speed V1 causes the firing stroke to be completed within a first time amount t1 with a first general firing force distribution. On the other hand, for instances 6006, 6008, driving the firing member at the second speed V2 causes the firing stroke to be completed within a second time amount t2 that is greater than the first time amount t1 (due to the slower speed) and with a second general firing force distribution. As seen in graph 600, due to the slower speed, the maximum firing force of instances 6006, 6008 is less than the maximum firing force of instances 6002, 6004. Thus, the firing speed has an impact on the firing force during the firing stroke.

[0432] The firing force is an important issue t...

Claims

1. A surgical instrument, the surgical instrument comprising: An end effector that can be configured in an open state and a clamping state, wherein the end effector comprises: A first jaw; and A second jaw that can move relative to the first jaw; A firing member that can move from a non-firing position towards a firing position during a firing stroke; A firing system that includes a motor, wherein the firing system is configured to drive the firing member through the firing stroke; and A control system that is configured to: Drive the firing member from the non-firing position towards the firing position using the firing system; Detect a firing force for firing the firing member towards the firing position; Predict a future firing force for firing the firing member based on the detected firing force; and Dynamically adjust a firing algorithm of the firing system based on the prediction.

2. The surgical instrument according to claim 1, wherein, Dynamically adjusting the firing algorithm includes pausing the advancement of the firing member.

3. The surgical instrument according to claim 2, wherein, The control system is configured to automatically resume the advancement of the firing member based on an amount of elapsed time.

4. The surgical instrument according to claim 2 or 3, wherein, The control system is configured to automatically resume the advancement of the firing member based on a predetermined reduction in the firing force.

5. The surgical instrument according to any one of claims 2 to 4, wherein, Driving the firing member includes driving the firing member at a first speed, and wherein the control system is further configured to resume the advancement of the firing member at a second speed different from the first speed.

6. The surgical instrument according to claim 5, wherein, The second speed is less than the first speed.

7. The surgical instrument according to any one of the preceding claims, wherein, Predicting a future firing force includes predicting an amount of time until the firing force will reach a firing force threshold.

8. The surgical instrument according to claim 7, wherein, The control system is further configured to: Drive the firing member for the amount of time; and Pause the advancement of the firing member based on the amount of elapsed time.

9. The surgical instrument according to claim 8, wherein, Driving the firing member includes driving the firing member at a first speed, and wherein the control system is further configured to resume the advancement of the firing member at a second speed different from the first speed.

10. A surgical instrument, the surgical instrument comprising: An end effector that can be configured in an open state and a clamping state, wherein the end effector comprises: A first jaw; A second jaw that can move relative to the first jaw; and A firing member that can move from a non-firing position towards a firing position during a firing stroke; A firing system that includes a motor, wherein the firing system is configured to drive the firing member through the firing stroke; and A control system that is configured to: Drive the firing member through a first firing stroke using the firing system; Detect a firing force for firing the firing member during the first firing stroke; Monitor a transition of the firing force; and Determine a thickness of tissue based on the transition of the firing force.

11. The surgical instrument according to claim 10, wherein, The transition includes peaks and valleys of the firing force.

12. The surgical instrument according to claim 11, wherein, The control system is configured to determine the thickness of the tissue based on magnitudes of the peaks and valleys of the firing force.

13. The surgical instrument according to claim 11 or 12, wherein, The control system is configured to be able to determine the thickness of the tissue based on the shape of the peaks and valleys of the firing force.

14. The surgical instrument according to any one of claims 11 to 13, wherein, The control system is configured to be able to determine the thickness of the tissue based on the number of occurrences of the peaks and valleys of the firing force.

15. The surgical instrument according to any one of claims 10 to 14, wherein, The control system is further configured to be able to predict a future firing force for firing the firing member based on the determined tissue thickness.

16. The surgical instrument according to claim 15, wherein, Predicting the future firing force includes predicting the amount of time until the firing force will reach a firing force threshold.

17. The surgical instrument according to claim 15 or claim 16, wherein, The control system is further configured to be able to adjust the firing algorithm of the firing system based on the prediction.

18. The surgical instrument according to claim 17, wherein, Adjusting the firing algorithm includes pausing the advancement of the firing member.

19. The surgical instrument according to claim 18, wherein, Driving the firing member includes driving the firing member at a first speed, and wherein the control system is further configured to be able to resume the advancement of the firing member at a second speed different from the first speed.

20. The surgical instrument according to any one of claims 10 to 19, wherein, The control system is further configured to be able to recommend a staple cartridge for a second firing stroke based on the determined thickness of the tissue.

21. The surgical instrument according to any one of the preceding claims, wherein, The end effector further includes a staple cartridge that includes staples removably stored therein, and wherein the staples are deployable from the staple cartridge based on the movement of the firing member toward the firing position.

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